diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-59-48_882160379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-59-48_882160379/pose.jsonl index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..feb55176114b0ac85f310d4ba1622731554e391b 100644 --- a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-59-48_882160379/pose.jsonl +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-59-48_882160379/pose.jsonl @@ -0,0 +1,1186 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 43.76202413747994, + 423.3335114668405, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 42.26202413747994, + 420.7354352554872, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 40.76202413747994, + 418.13735904413386, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 39.26202413747994, + 415.53928283278054, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 37.76202413747994, + 412.9412066214272, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 36.26202413747994, + 410.3431304100739, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 34.76202413747994, + 407.7450541987206, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 33.26202413747994, + 405.1469779873673, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 31.76202413747994, + 402.54890177601396, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 30.26202413747994, + 399.95082556466065, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 28.76202413747994, + 397.35274935330733, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 27.26202413747994, + 394.754673141954, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 25.76202413747994, + 392.1565969306007, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 24.26202413747994, + 389.5585207192474, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 22.76202413747994, + 386.96044450789407, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.26202413747994, + 384.36236829654075, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.76202413747994, + 381.76429208518744, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 18.26202413747994, + 379.1662158738341, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 16.76202413747994, + 376.5681396624808, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 15.26202413747994, + 373.9700634511275, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 13.76202413747994, + 371.37198723977417, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.26202413747994, + 368.77391102842086, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 10.76202413747994, + 366.17583481706754, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 9.26202413747994, + 363.5777586057142, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 7.7620241374799415, + 360.9796823943609, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 6.262024137479942, + 358.3816061830076, + -24.481066527613056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 4.762024137479943, + 355.7835299716543, + -24.481066527613056 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-8-48_349517445/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-8-48_349517445/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b042acc452b0b7eda756363494dde763e779bbd2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-8-48_349517445/pose.jsonl @@ -0,0 +1,1176 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -484.4555719404747, + 505.86053113497474, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -487.05364815182804, + 507.36053113497474, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -489.65172436318136, + 508.86053113497474, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -492.2498005745347, + 510.36053113497474, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -494.847876785888, + 511.86053113497474, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -497.4459529972413, + 513.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -500.0440292085946, + 514.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -502.64210541994794, + 516.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -505.24018163130125, + 517.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -507.83825784265457, + 519.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -510.4363340540079, + 520.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -513.0344102653612, + 522.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -515.6324864767146, + 523.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -518.230562688068, + 525.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.8286388994213, + 526.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -523.4267151107747, + 528.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -526.0247913221281, + 529.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -528.6228675334814, + 531.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -531.2209437448348, + 532.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -533.8190199561882, + 534.3605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -536.4170961675416, + 535.8605311349747, + -15.111034065625994 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -536.4170961675416, + 535.8605311349747, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.9170961675416, + 538.4586073463281, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -539.4170961675416, + 541.0566835576815, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -540.9170961675416, + 543.6547597690349, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -542.4170961675416, + 546.2528359803882, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.9170961675416, + 548.8509121917416, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -545.4170961675416, + 551.448988403095, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -546.9170961675416, + 554.0470646144483, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -548.4170961675416, + 556.6451408258017, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -549.9170961675416, + 559.2432170371551, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -551.4170961675416, + 561.8412932485085, + -15.111034065625994 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -551.4170961675416, + 561.8412932485085, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -554.0151723788949, + 563.3412932485085, + -15.111034065625994 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -556.6132485902483, + 564.8412932485085, + -15.111034065625994 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-9-33_588219756/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-9-33_588219756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..889b7914c799c4b8da4b9be5e7a96f77d766b0da --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_18-9-33_588219756/pose.jsonl @@ -0,0 +1,840 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -843.0749815536863, + 256.6060630824529, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.5749815536863, + 259.20413929380624, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -846.0749815536863, + 261.80221550515955, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -847.5749815536863, + 264.40029171651287, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -849.0749815536863, + 266.9983679278662, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -850.5749815536863, + 269.5964441392195, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -852.0749815536863, + 272.1945203505728, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -853.5749815536863, + 274.79259656192613, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -855.0749815536863, + 277.39067277327945, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.5749815536863, + 279.98874898463276, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -858.0749815536863, + 282.5868251959861, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.5749815536863, + 285.1849014073394, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.0749815536863, + 287.7829776186927, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -862.5749815536863, + 290.381053830046, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -864.0749815536863, + 292.97913004139934, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -865.5749815536863, + 295.57720625275266, + -4.989167900123157 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -865.5749815536863, + 295.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -865.5749815536863, + 298.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -865.5749815536863, + 301.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -865.5749815536863, + 304.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -865.5749815536863, + 307.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -865.5749815536863, + 310.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -865.5749815536863, + 313.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -865.5749815536863, + 316.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -865.5749815536863, + 319.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -865.5749815536863, + 322.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -865.5749815536863, + 325.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -865.5749815536863, + 328.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -865.5749815536863, + 331.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -865.5749815536863, + 334.57720625275266, + -4.989167900123157 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -865.5749815536863, + 337.57720625275266, + -4.989167900123157 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-0-25_11614769/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-0-25_11614769/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c79c91b9a4cc741aa406920faf26e256aee31a51 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-0-25_11614769/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 403.5557458313838, + 387.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 400.95766962003046, + 385.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.35959340867714, + 384.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 395.7615171973238, + 382.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 393.1634409859705, + 381.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 390.5653647746172, + 379.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 387.9672885632639, + 378.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 385.36921235191056, + 376.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.77113614055725, + 375.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 380.17305992920393, + 373.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 377.5749837178506, + 372.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 374.9769075064973, + 370.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 372.378831295144, + 369.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 369.78075508379067, + 367.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 367.18267887243735, + 366.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 364.58460266108403, + 364.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 361.9865264497307, + 363.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 359.3884502383774, + 361.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 356.7903740270241, + 360.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 354.19229781567077, + 358.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 351.59422160431745, + 357.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.99614539296414, + 355.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.3980691816108, + 354.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 343.7999929702575, + 352.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 341.2019167589042, + 351.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 338.6038405475509, + 349.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 336.00576433619756, + 348.30387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 333.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 333.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 330.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 327.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 324.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 321.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 318.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 315.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 312.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 309.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 306.40768812484424, + 346.80387172040844, + -20.416237666647056 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-10-22_1857962504/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-10-22_1857962504/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2751726f960afd0fb796f5398b064774c81da594 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-10-22_1857962504/pose.jsonl @@ -0,0 +1,1889 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -450.37914099417026, + 551.8342506585228, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -451.87914099417026, + 554.4323268698761, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -453.37914099417026, + 557.0304030812295, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -454.87914099417026, + 559.6284792925828, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -456.37914099417026, + 562.2265555039362, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -457.87914099417026, + 564.8246317152896, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -459.37914099417026, + 567.4227079266429, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -460.87914099417026, + 570.0207841379963, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -462.37914099417026, + 572.6188603493497, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -463.87914099417026, + 575.2169365607031, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -465.37914099417026, + 577.8150127720564, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -466.87914099417026, + 580.4130889834098, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -468.37914099417026, + 583.0111651947632, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -469.87914099417026, + 585.6092414061166, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -471.37914099417026, + 588.2073176174699, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -472.87914099417026, + 590.8053938288233, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -474.37914099417026, + 593.4034700401767, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -475.87914099417026, + 596.00154625153, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -477.37914099417026, + 598.5996224628834, + -5.417302602312102 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -477.37914099417026, + 598.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -477.37914099417026, + 601.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -477.37914099417026, + 604.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -477.37914099417026, + 607.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -477.37914099417026, + 610.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -477.37914099417026, + 613.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -477.37914099417026, + 616.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -477.37914099417026, + 619.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -477.37914099417026, + 622.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -477.37914099417026, + 625.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -477.37914099417026, + 628.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -477.37914099417026, + 631.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -477.37914099417026, + 634.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -477.37914099417026, + 637.5996224628834, + -5.417302602312102 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -477.37914099417026, + 640.5996224628834, + -5.417302602312102 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-15-2_1737518944/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-15-2_1737518944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb409a2911e5d98cea2e92c12f6ae6c32e89e22f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-15-2_1737518944/pose.jsonl @@ -0,0 +1,1036 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -57.57589243497903, + -174.38476874234095, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.07589243497903, + -171.78669253098764, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -54.57589243497903, + -169.18861631963432, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -53.07589243497903, + -166.590540108281, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -51.57589243497903, + -163.9924638969277, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -50.07589243497903, + -161.39438768557437, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -48.57589243497903, + -158.79631147422106, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -47.07589243497903, + -156.19823526286774, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -45.57589243497903, + -153.60015905151442, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -44.07589243497903, + -151.0020828401611, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -42.57589243497903, + -148.4040066288078, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -41.07589243497903, + -145.80593041745448, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -39.57589243497903, + -143.20785420610116, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -38.07589243497903, + -140.60977799474784, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -36.57589243497903, + -138.01170178339453, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -35.07589243497903, + -135.4136255720412, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -33.57589243497903, + -132.8155493606879, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -32.07589243497903, + -130.21747314933458, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -30.575892434979032, + -127.61939693798126, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -29.075892434979032, + -125.02132072662795, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -27.575892434979032, + -122.42324451527463, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.075892434979032, + -119.82516830392132, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -24.575892434979032, + -117.227092092568, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.075892434979032, + -114.62901588121468, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -21.575892434979032, + -112.03093966986137, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -20.075892434979032, + -109.43286345850805, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -18.575892434979032, + -106.83478724715474, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -17.075892434979032, + -104.23671103580142, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -15.575892434979032, + -101.6386348244481, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -14.075892434979032, + -99.04055861309479, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -12.575892434979032, + -96.44248240174147, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -11.075892434979032, + -93.84440619038816, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -9.575892434979032, + -91.24632997903484, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -8.075892434979032, + -88.64825376768152, + -20.746104327508963 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -8.075892434979032, + -88.64825376768152, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -8.075892434979032, + -85.64825376768152, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -8.075892434979032, + -82.64825376768152, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -8.075892434979032, + -79.64825376768152, + -20.746104327508963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -8.075892434979032, + -76.64825376768152, + -20.746104327508963 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-26-4_653448036/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-26-4_653448036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51210f21db0451f334785d13c07039b769740a6f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-26-4_653448036/pose.jsonl @@ -0,0 +1,1944 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -548.5268242249934, + 378.2140118630913, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -547.0268242249934, + 380.8120880744446, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -545.5268242249934, + 383.4101642857979, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -544.0268242249934, + 386.00824049715123, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -542.5268242249934, + 388.60631670850455, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -541.0268242249934, + 391.20439291985787, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -539.5268242249934, + 393.8024691312112, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -538.0268242249934, + 396.4005453425645, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -536.5268242249934, + 398.9986215539178, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -535.0268242249934, + 401.59669776527113, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -533.5268242249934, + 404.19477397662445, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -532.0268242249934, + 406.79285018797776, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -530.5268242249934, + 409.3909263993311, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -529.0268242249934, + 411.9890026106844, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -527.5268242249934, + 414.5870788220377, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.0268242249934, + 417.185155033391, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -524.5268242249934, + 419.78323124474434, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -523.0268242249934, + 422.38130745609766, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -521.5268242249934, + 424.979383667451, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -520.0268242249934, + 427.5774598788043, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -518.5268242249934, + 430.1755360901576, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -517.0268242249934, + 432.7736123015109, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -515.5268242249934, + 435.37168851286424, + -17.73527319119428 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -515.5268242249934, + 435.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -515.5268242249934, + 438.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -515.5268242249934, + 441.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -515.5268242249934, + 444.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -515.5268242249934, + 447.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -515.5268242249934, + 450.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -515.5268242249934, + 453.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -515.5268242249934, + 456.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -515.5268242249934, + 459.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -515.5268242249934, + 462.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -515.5268242249934, + 465.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -515.5268242249934, + 468.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -515.5268242249934, + 471.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -515.5268242249934, + 474.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -515.5268242249934, + 477.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -515.5268242249934, + 480.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -515.5268242249934, + 483.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -515.5268242249934, + 486.37168851286424, + -17.73527319119428 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -515.5268242249934, + 489.37168851286424, + -17.73527319119428 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-46-5_1344247686/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-46-5_1344247686/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c604ff86840df529760df2c9974df616d957549b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-46-5_1344247686/pose.jsonl @@ -0,0 +1,1273 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 83.43859069721903, + 259.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 83.43859069721903, + 256.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 83.43859069721903, + 253.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 83.43859069721903, + 250.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 83.43859069721903, + 247.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 83.43859069721903, + 244.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 83.43859069721903, + 241.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 83.43859069721903, + 238.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 83.43859069721903, + 235.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 83.43859069721903, + 232.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 83.43859069721903, + 229.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 83.43859069721903, + 226.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 83.43859069721903, + 223.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 83.43859069721903, + 220.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 83.43859069721903, + 217.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 83.43859069721903, + 214.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 83.43859069721903, + 211.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 83.43859069721903, + 208.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 83.43859069721903, + 205.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 83.43859069721903, + 202.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.43859069721903, + 199.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 83.43859069721903, + 196.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 83.43859069721903, + 193.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 83.43859069721903, + 190.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 83.43859069721903, + 187.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 83.43859069721903, + 184.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 83.43859069721903, + 181.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 83.43859069721903, + 178.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 83.43859069721903, + 175.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 83.43859069721903, + 172.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 83.43859069721903, + 169.83665535391594, + -5.924306453264805 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 83.43859069721903, + 169.83665535391594, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 81.93859069721903, + 167.23857914256263, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 80.43859069721903, + 164.6405029312093, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 78.93859069721903, + 162.042426719856, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 77.43859069721903, + 159.44435050850268, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 75.93859069721903, + 156.84627429714936, + -5.924306453264805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 74.43859069721903, + 154.24819808579605, + -5.924306453264805 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-47-40_661761152/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-47-40_661761152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75bf817ec53d5551442cec21f520390d51a3d5ae --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-47-40_661761152/pose.jsonl @@ -0,0 +1,1125 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -879.2296731567219, + 657.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -876.6315969453685, + 656.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -874.0335207340152, + 654.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -871.4354445226618, + 653.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -868.8373683113084, + 651.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -866.239292099955, + 650.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -863.6412158886017, + 648.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -861.0431396772483, + 647.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -858.4450634658949, + 645.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -855.8469872545415, + 644.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -853.2489110431882, + 642.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -850.6508348318348, + 641.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -848.0527586204814, + 639.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -845.454682409128, + 638.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -842.8566061977747, + 636.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -840.2585299864213, + 635.4684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -837.6604537750679, + 633.9684572682601, + -14.3277670060859 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -837.6604537750679, + 633.9684572682601, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -836.1604537750679, + 631.3703810569068, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -834.6604537750679, + 628.7723048455534, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -833.1604537750679, + 626.1742286342001, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -831.6604537750679, + 623.5761524228467, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -830.1604537750679, + 620.9780762114933, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -828.6604537750679, + 618.38000000014, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -827.1604537750679, + 615.7819237887866, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -825.6604537750679, + 613.1838475774332, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -824.1604537750679, + 610.5857713660798, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -822.6604537750679, + 607.9876951547265, + -14.3277670060859 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -821.1604537750679, + 605.3896189433731, + -14.3277670060859 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-48-19_474613996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-48-19_474613996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a65fe8c464ff0443d174e2b906a694ae780d730 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-48-19_474613996/pose.jsonl @@ -0,0 +1,1723 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -682.0781804234495, + 283.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -682.0781804234495, + 280.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.0781804234495, + 277.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -682.0781804234495, + 274.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -682.0781804234495, + 271.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -682.0781804234495, + 268.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -682.0781804234495, + 265.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -682.0781804234495, + 262.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -682.0781804234495, + 259.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.0781804234495, + 256.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -682.0781804234495, + 253.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.0781804234495, + 250.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.0781804234495, + 247.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.0781804234495, + 244.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.0781804234495, + 241.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -682.0781804234495, + 238.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -682.0781804234495, + 235.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.0781804234495, + 232.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -682.0781804234495, + 229.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.0781804234495, + 226.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.0781804234495, + 223.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -682.0781804234495, + 220.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.0781804234495, + 217.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -682.0781804234495, + 214.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -682.0781804234495, + 211.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -682.0781804234495, + 208.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -682.0781804234495, + 205.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -682.0781804234495, + 202.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -682.0781804234495, + 199.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -682.0781804234495, + 196.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -682.0781804234495, + 193.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -682.0781804234495, + 190.83739268440553, + -10.122992678427249 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -682.0781804234495, + 190.83739268440553, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -683.5781804234495, + 188.2393164730522, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -685.0781804234495, + 185.6412402616989, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.5781804234495, + 183.04316405034558, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -688.0781804234495, + 180.44508783899227, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.5781804234495, + 177.84701162763895, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -691.0781804234495, + 175.24893541628563, + -10.122992678427249 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -691.0781804234495, + 175.24893541628563, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -691.0781804234495, + 172.24893541628563, + -10.122992678427249 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -691.0781804234495, + 169.24893541628563, + -10.122992678427249 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-56-2_932026304/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-56-2_932026304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0a8e675958cbfd3e958cbb315215dff495ca01 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-56-2_932026304/pose.jsonl @@ -0,0 +1,1413 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.2817570323982, + 663.6733486837279, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -696.7817570323982, + 666.2714248950813, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -695.2817570323982, + 668.8695011064347, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -693.7817570323982, + 671.467577317788, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.2817570323982, + 674.0656535291414, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -690.7817570323982, + 676.6637297404948, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -689.2817570323982, + 679.2618059518481, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -687.7817570323982, + 681.8598821632015, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.2817570323982, + 684.4579583745549, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -684.7817570323982, + 687.0560345859083, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -683.2817570323982, + 689.6541107972616, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -681.7817570323982, + 692.252187008615, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -680.2817570323982, + 694.8502632199684, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.7817570323982, + 697.4483394313218, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.2817570323982, + 700.0464156426751, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.7817570323982, + 702.6444918540285, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -674.2817570323982, + 705.2425680653819, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.7817570323982, + 707.8406442767352, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -671.2817570323982, + 710.4387204880886, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -669.7817570323982, + 713.036796699442, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.2817570323982, + 715.6348729107954, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -666.7817570323982, + 718.2329491221487, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -665.2817570323982, + 720.8310253335021, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -663.7817570323982, + 723.4291015448555, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -662.2817570323982, + 726.0271777562089, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -660.7817570323982, + 728.6252539675622, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -659.2817570323982, + 731.2233301789156, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -657.7817570323982, + 733.821406390269, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -656.2817570323982, + 736.4194826016223, + -16.561622098930854 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -654.7817570323982, + 739.0175588129757, + -16.561622098930854 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-59-5_332266748/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-59-5_332266748/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..489ff9c344556a16878a4511883e9c6f777a2fc2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_19-59-5_332266748/pose.jsonl @@ -0,0 +1,1611 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -348.02016699836923, + 112.66284538399962, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -350.61824320972255, + 111.16284538399962, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -353.21631942107587, + 109.66284538399962, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -355.8143956324292, + 108.16284538399962, + -17.10103959882467 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -355.8143956324292, + 108.16284538399962, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -357.3143956324292, + 105.56476917264631, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -358.8143956324292, + 102.96669296129299, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -360.3143956324292, + 100.36861674993968, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -361.8143956324292, + 97.77054053858636, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -363.3143956324292, + 95.17246432723304, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -364.8143956324292, + 92.57438811587973, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -366.3143956324292, + 89.97631190452641, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -367.8143956324292, + 87.3782356931731, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -369.3143956324292, + 84.78015948181978, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -370.8143956324292, + 82.18208327046646, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.3143956324292, + 79.58400705911315, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -373.8143956324292, + 76.98593084775983, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -375.3143956324292, + 74.38785463640652, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -376.8143956324292, + 71.7897784250532, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -378.3143956324292, + 69.19170221369988, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -379.8143956324292, + 66.59362600234657, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -381.3143956324292, + 63.99554979099325, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -382.8143956324292, + 61.397473579639936, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -384.3143956324292, + 58.79939736828662, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -385.8143956324292, + 56.201321156933304, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -387.3143956324292, + 53.60324494557999, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -388.8143956324292, + 51.00516873422667, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -390.3143956324292, + 48.407092522873356, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -391.8143956324292, + 45.80901631152004, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -393.3143956324292, + 43.210940100166724, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -394.8143956324292, + 40.61286388881341, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -396.3143956324292, + 38.01478767746009, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -397.8143956324292, + 35.416711466106776, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -399.3143956324292, + 32.81863525475346, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -399.3143956324292, + 32.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -401.9124718437825, + 31.31863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -404.5105480551358, + 29.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -407.10862426648913, + 28.31863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -409.70670047784245, + 26.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -412.30477668919576, + 25.31863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 40, + "pos": [ + -414.9028529005491, + 23.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 41, + "pos": [ + -417.5009291119024, + 22.31863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 42, + "pos": [ + -420.0990053232557, + 20.81863525475346, + -17.10103959882467 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 43, + "pos": [ + -420.0990053232557, + 20.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [] +} +{ + "action": { + "imageid": 44, + "pos": [ + -421.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 45, + "pos": [ + -421.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991494 + }, + "objects": [] +} +{ + "action": { + "imageid": 46, + "pos": [ + -421.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 47, + "pos": [ + -424.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 48, + "pos": [ + -427.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 49, + "pos": [ + -430.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 50, + "pos": [ + -430.5990053232557, + 18.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 51, + "pos": [ + -433.197081534609, + 19.720559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 52, + "pos": [ + -435.79515774596234, + 21.220559043400144, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 53, + "pos": [ + -435.79515774596234, + 21.220559043400144, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 54, + "pos": [ + -435.79515774596234, + 21.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 55, + "pos": [ + -435.79515774596234, + 24.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 56, + "pos": [ + -435.79515774596234, + 27.220559043400144, + -17.10103959882467 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 57, + "pos": [ + -435.79515774596234, + 27.220559043400144, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 58, + "pos": [ + -437.29515774596234, + 29.81863525475346, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 59, + "pos": [ + -438.79515774596234, + 32.416711466106776, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 60, + "pos": [ + -438.79515774596234, + 32.416711466106776, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 61, + "pos": [ + -438.79515774596234, + 35.416711466106776, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 62, + "pos": [ + -438.79515774596234, + 38.416711466106776, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 63, + "pos": [ + -438.79515774596234, + 41.416711466106776, + -17.10103959882467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 64, + "pos": [ + -438.79515774596234, + 41.416711466106776, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 65, + "pos": [ + -437.29515774596234, + 44.01478767746009, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 66, + "pos": [ + -435.79515774596234, + 46.61286388881341, + -17.10103959882467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 67, + "pos": [ + -434.29515774596234, + 49.210940100166724, + -17.10103959882467 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-18-32_1543755629/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-18-32_1543755629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa00f10cb8201bc239ab41df5dc35d4826947d42 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-18-32_1543755629/pose.jsonl @@ -0,0 +1,1898 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -317.576250461153, + 537.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -320.1743266725063, + 539.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -322.7724028838596, + 540.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -325.37047909521294, + 542.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -327.96855530656626, + 543.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -330.5666315179196, + 545.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -333.1647077292729, + 546.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -335.7627839406262, + 548.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -338.3608601519795, + 549.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -340.95893636333284, + 551.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -343.55701257468615, + 552.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -346.15508878603947, + 554.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -348.7531649973928, + 555.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -351.3512412087461, + 557.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -353.9493174200994, + 558.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -356.54739363145274, + 560.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -359.14546984280605, + 561.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -361.74354605415937, + 563.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.3416222655127, + 564.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -366.939698476866, + 566.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -369.5377746882193, + 567.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -372.13585089957263, + 569.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -374.73392711092595, + 570.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -377.33200332227926, + 572.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -379.9300795336326, + 573.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -382.5281557449859, + 575.0263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -385.1262319563392, + 576.5263070886401, + -8.071703714912903 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -385.1262319563392, + 576.5263070886401, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -386.6262319563392, + 579.1243832999935, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -388.1262319563392, + 581.7224595113469, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -389.6262319563392, + 584.3205357227002, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -391.1262319563392, + 586.9186119340536, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -392.6262319563392, + 589.516688145407, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -394.1262319563392, + 592.1147643567604, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -395.6262319563392, + 594.7128405681137, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -397.1262319563392, + 597.3109167794671, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -398.6262319563392, + 599.9089929908205, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -400.1262319563392, + 602.5070692021739, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -401.6262319563392, + 605.1051454135272, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -403.1262319563392, + 607.7032216248806, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -404.6262319563392, + 610.301297836234, + -8.071703714912903 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -406.1262319563392, + 612.8993740475873, + -8.071703714912903 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-21-46_70636429/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-21-46_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d027131af414aa41397b2e1357ffd51c25f14c2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-21-46_70636429/pose.jsonl @@ -0,0 +1,1263 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 57.431720649991604, + 331.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 54.83364443863829, + 333.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 52.23556822728497, + 334.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 49.637492015931656, + 336.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 47.03941580457834, + 337.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 44.441339593225024, + 339.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 41.84326338187171, + 340.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 39.24518717051839, + 342.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 36.647110959165076, + 343.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 34.04903474781176, + 345.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 31.450958536458444, + 346.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 28.852882325105128, + 348.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 26.254806113751812, + 349.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 23.656729902398496, + 351.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 21.05865369104518, + 352.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 18.460577479691864, + 354.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 15.862501268338548, + 355.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 13.264425056985232, + 357.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.666348845631916, + 358.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 8.0682726342786, + 360.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 5.470196422925284, + 361.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 2.8721202115719677, + 363.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 0.2740440002186517, + 364.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -2.3240322111346643, + 366.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -4.92210842248798, + 367.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -7.520184633841296, + 369.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -10.118260845194612, + 370.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -12.716337056547928, + 372.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -15.314413267901244, + 373.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -17.91248947925456, + 375.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -20.510565690607876, + 376.8969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -23.108641901961192, + 378.3969837805906, + -22.66329993099722 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -23.108641901961192, + 378.3969837805906, + -22.66329993099722 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -24.608641901961192, + 380.9950599919439, + -22.66329993099722 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-23-55_402903177/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-23-55_402903177/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..784037cd6567cf9a5f1185e9f2bcd4dd9d4f0f79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-23-55_402903177/pose.jsonl @@ -0,0 +1,1267 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -723.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -726.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -732.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -735.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -738.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -741.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -747.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -750.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -756.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -759.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -762.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -765.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -771.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -774.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -777.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -780.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -783.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -786.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -789.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -792.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -795.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -795.5175926789556, + 499.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -798.1156688903088, + 500.73425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -800.7137451016622, + 502.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -803.3118213130156, + 503.73425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -805.909897524369, + 505.23425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -808.5079737357223, + 506.73425415354905, + -14.982161801735652 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -808.5079737357223, + 506.73425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -811.5079737357223, + 506.73425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -814.5079737357223, + 506.73425415354905, + -14.982161801735652 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -817.5079737357223, + 506.73425415354905, + -14.982161801735652 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-30-11_1407392292/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-30-11_1407392292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e3b7f0765d1d5b0ad97efd632ea34e284a3b3c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-30-11_1407392292/pose.jsonl @@ -0,0 +1,1824 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.2167898613079, + 797.0175644311041, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -800.7167898613079, + 794.4194882197507, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -799.2167898613079, + 791.8214120083974, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -797.7167898613079, + 789.223335797044, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -796.2167898613079, + 786.6252595856906, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.7167898613079, + 784.0271833743373, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -793.2167898613079, + 781.4291071629839, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.7167898613079, + 778.8310309516305, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -790.2167898613079, + 776.2329547402771, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -788.7167898613079, + 773.6348785289238, + -26.337576424555664 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -788.7167898613079, + 773.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.7167898613079, + 770.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.7167898613079, + 767.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.7167898613079, + 764.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.7167898613079, + 761.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -788.7167898613079, + 758.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -788.7167898613079, + 755.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -788.7167898613079, + 752.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -788.7167898613079, + 749.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -788.7167898613079, + 746.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -788.7167898613079, + 743.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.7167898613079, + 740.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -788.7167898613079, + 737.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -788.7167898613079, + 734.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -788.7167898613079, + 731.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -788.7167898613079, + 728.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -788.7167898613079, + 725.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -788.7167898613079, + 722.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -788.7167898613079, + 719.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -788.7167898613079, + 716.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -788.7167898613079, + 713.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -788.7167898613079, + 710.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -788.7167898613079, + 707.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -788.7167898613079, + 704.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -788.7167898613079, + 701.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -788.7167898613079, + 698.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -788.7167898613079, + 695.6348785289238, + -26.337576424555664 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -788.7167898613079, + 695.6348785289238, + -26.337576424555664 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -788.7167898613079, + 695.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -786.1187136499545, + 694.1348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -783.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -783.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -780.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + -780.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 44, + "pos": [ + -780.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 45, + "pos": [ + -780.5206374386012, + 692.6348785289238, + -26.337576424555664 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 46, + "pos": [ + -780.5206374386012, + 689.6348785289238, + -26.337576424555664 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-8-31_1473144500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-8-31_1473144500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c537adecd8d6dd8fb72502541811fdf921cd0071 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-29_20-8-31_1473144500/pose.jsonl @@ -0,0 +1,2646 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -443.06752028180165, + 730.5713015265286, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -441.56752028180165, + 727.9732253151753, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -440.06752028180165, + 725.375149103822, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -438.56752028180165, + 722.7770728924686, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -437.06752028180165, + 720.1789966811152, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -435.56752028180165, + 717.5809204697618, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -434.06752028180165, + 714.9828442584085, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -432.56752028180165, + 712.3847680470551, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -431.06752028180165, + 709.7866918357017, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -429.56752028180165, + 707.1886156243484, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -428.06752028180165, + 704.590539412995, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -426.56752028180165, + 701.9924632016416, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -425.06752028180165, + 699.3943869902882, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -423.56752028180165, + 696.7963107789349, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -422.06752028180165, + 694.1982345675815, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -420.56752028180165, + 691.6001583562281, + -26.67973045771984 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -420.56752028180165, + 691.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -417.96944407044833, + 690.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -415.371367859095, + 688.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -412.7732916477417, + 687.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -410.1752154363884, + 685.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -407.57713922503507, + 684.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -404.97906301368175, + 682.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -402.38098680232844, + 681.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -399.7829105909751, + 679.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -397.1848343796218, + 678.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -394.5867581682685, + 676.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -391.9886819569152, + 675.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -389.39060574556186, + 673.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -386.79252953420854, + 672.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -384.1944533228552, + 670.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -381.5963771115019, + 669.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -378.9983009001486, + 667.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -376.4002246887953, + 666.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -373.80214847744196, + 664.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -371.20407226608864, + 663.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -368.60599605473533, + 661.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -366.007919843382, + 660.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -363.4098436320287, + 658.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -360.8117674206754, + 657.1001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -358.21369120932206, + 655.6001583562281, + -26.67973045771984 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -355.61561499796875, + 654.1001583562281, + -26.67973045771984 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-30-43_1973594324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-30-43_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f121af6e2d83c95efd94812b524a2e48fa4a63a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-30-43_1973594324/pose.jsonl @@ -0,0 +1,1634 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -251.5257541434448, + 682.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -254.12383035479812, + 680.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -256.72190656615146, + 679.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914993 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -259.3199827775048, + 677.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -261.9180589888581, + 676.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -264.5161352002114, + 674.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -267.1142114115647, + 673.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -269.71228762291804, + 671.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -272.31036383427136, + 670.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.9084400456247, + 668.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.506516256978, + 667.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.1045924683313, + 665.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -282.7026686796846, + 664.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -285.30074489103794, + 662.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -287.89882110239125, + 661.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -290.49689731374457, + 659.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -293.0949735250979, + 658.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -295.6930497364512, + 656.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -298.2911259478045, + 655.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -300.88920215915783, + 653.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -303.48727837051115, + 652.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -306.08535458186446, + 650.8805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -308.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -311.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -314.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -317.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -320.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -323.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -326.6834307932178, + 649.3805461998301, + -25.520753062049323 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-47-46_1141616124/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-47-46_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99ed1f8cc357783d74523acd342ce744abc60c63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-47-46_1141616124/pose.jsonl @@ -0,0 +1,2032 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.7578908679147, + 398.8513344571837, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.2578908679147, + 401.44941066853704, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -695.7578908679147, + 404.04748687989036, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -697.2578908679147, + 406.6455630912437, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -698.7578908679147, + 409.243639302597, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -700.2578908679147, + 411.8417155139503, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -701.7578908679147, + 414.4397917253036, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -703.2578908679147, + 417.03786793665694, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -704.7578908679147, + 419.63594414801025, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -706.2578908679147, + 422.23402035936357, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.7578908679147, + 424.8320965707169, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -709.2578908679147, + 427.4301727820702, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -710.7578908679147, + 430.0282489934235, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -712.2578908679147, + 432.62632520477683, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -713.7578908679147, + 435.22440141613015, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -715.2578908679147, + 437.82247762748347, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.7578908679147, + 440.4205538388368, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -718.2578908679147, + 443.0186300501901, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -719.7578908679147, + 445.6167062615434, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -721.2578908679147, + 448.21478247289673, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.7578908679147, + 450.81285868425005, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -724.2578908679147, + 453.41093489560336, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -725.7578908679147, + 456.0090111069567, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -727.2578908679147, + 458.60708731831, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.7578908679147, + 461.2051635296633, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.2578908679147, + 463.8032397410166, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.7578908679147, + 466.40131595236994, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -733.2578908679147, + 468.99939216372326, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -734.7578908679147, + 471.5974683750766, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -736.2578908679147, + 474.1955445864299, + -5.559556034496541 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -736.2578908679147, + 474.1955445864299, + -5.559556034496541 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -736.2578908679147, + 474.1955445864299, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -739.2578908679147, + 474.1955445864299, + -5.559556034496541 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -742.2578908679147, + 474.1955445864299, + -5.559556034496541 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-49-11_939819582/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-49-11_939819582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65c185c86638b17363da63f53ae205302ebae78a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-49-11_939819582/pose.jsonl @@ -0,0 +1,1971 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -354.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -351.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -348.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -345.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -342.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -339.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -336.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -333.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -330.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -327.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -324.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -321.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -318.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -315.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -309.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -306.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -300.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -297.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -294.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -291.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -288.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -285.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -285.4780189466578, + 533.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -282.8799427353045, + 534.542062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -280.2818665239512, + 536.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -277.68379031259786, + 537.542062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -275.08571410124455, + 539.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -272.48763788989123, + 540.542062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -269.8895616785379, + 542.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -267.2914854671846, + 543.542062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -264.6934092558313, + 545.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -262.09533304447797, + 546.542062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -259.49725683312465, + 548.042062993672, + -9.226343714575513 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -256.89918062177134, + 549.542062993672, + -9.226343714575513 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-52-15_610515434/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-52-15_610515434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2d7b06529983ee1486fe3fc7b8a8903cb7471f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-52-15_610515434/pose.jsonl @@ -0,0 +1,1020 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -646.7131737846422, + 444.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.115097573289, + 443.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -641.5170213619356, + 441.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -638.9189451505822, + 440.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -636.3208689392288, + 438.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -633.7227927278755, + 437.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -631.1247165165221, + 435.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -628.5266403051687, + 434.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -625.9285640938153, + 432.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -623.330487882462, + 431.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -620.7324116711086, + 429.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -618.1343354597552, + 428.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -615.5362592484018, + 426.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -612.9381830370485, + 425.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -610.3401068256951, + 423.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -607.7420306143417, + 422.4725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -605.1439544029884, + 420.9725594430459, + -9.175919072166376 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -605.1439544029884, + 420.9725594430459, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -603.6439544029884, + 418.3744832316926, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -602.1439544029884, + 415.77640702033926, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -600.6439544029884, + 413.17833080898595, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -599.1439544029884, + 410.58025459763263, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -597.6439544029884, + 407.9821783862793, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -596.1439544029884, + 405.384102174926, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -594.6439544029884, + 402.7860259635727, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -593.1439544029884, + 400.18794975221937, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -591.6439544029884, + 397.58987354086605, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -590.1439544029884, + 394.99179732951274, + -9.175919072166376 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -588.6439544029884, + 392.3937211181594, + -9.175919072166376 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-8-26_304089172/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-8-26_304089172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b78139340352a97981a673e60438573ed527b0a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_0-8-26_304089172/pose.jsonl @@ -0,0 +1,1797 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -644.5056507669016, + 538.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -647.1037269782548, + 537.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.7018031896082, + 535.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -652.2998794009616, + 534.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -654.897955612315, + 532.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -657.4960318236683, + 531.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -660.0941080350217, + 529.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -662.6921842463751, + 528.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.2902604577284, + 526.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.8883366690818, + 525.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.4864128804352, + 523.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -673.0844890917886, + 522.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -675.6825653031419, + 520.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.2806415144953, + 519.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.8787177258487, + 517.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.476793937202, + 516.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -686.0748701485554, + 514.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.6729463599088, + 513.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -691.2710225712622, + 511.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.8690987826155, + 510.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -696.4671749939689, + 508.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.0652512053223, + 507.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -701.6633274166757, + 505.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -704.261403628029, + 504.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -706.8594798393824, + 502.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -709.4575560507358, + 501.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.0556322620891, + 499.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -714.6537084734425, + 498.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -717.2517846847959, + 496.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -719.8498608961493, + 495.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -722.4479371075026, + 493.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -725.046013318856, + 492.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.6440895302094, + 490.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -730.2421657415628, + 489.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -732.8402419529161, + 487.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -735.4383181642695, + 486.2481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -738.0363943756229, + 484.7481103695162, + -29.608852746820254 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -738.0363943756229, + 484.7481103695162, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -739.5363943756229, + 482.1500341581629, + -29.608852746820254 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -741.0363943756229, + 479.5519579468096, + -29.608852746820254 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-23-55_894429689/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-23-55_894429689/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1c2ac7d8f8e07d2f2eaa612acea96b8fbd5eb04 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-23-55_894429689/pose.jsonl @@ -0,0 +1,1397 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -558.2551024128218, + 338.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -560.8531786241751, + 337.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -563.4512548355285, + 335.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -566.0493310468819, + 334.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -568.6474072582353, + 332.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -571.2454834695886, + 331.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -573.843559680942, + 329.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -576.4416358922954, + 328.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -579.0397121036488, + 326.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -581.6377883150021, + 325.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -584.2358645263555, + 323.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -586.8339407377089, + 322.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -589.4320169490622, + 320.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -592.0300931604156, + 319.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -594.628169371769, + 317.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -597.2262455831224, + 316.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -599.8243217944757, + 314.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -602.4223980058291, + 313.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -605.0204742171825, + 311.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -607.6185504285359, + 310.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -610.2166266398892, + 308.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -612.8147028512426, + 307.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -615.412779062596, + 305.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -618.0108552739493, + 304.07507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -620.6089314853027, + 302.57507647294517, + -28.098709338161864 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -620.6089314853027, + 302.57507647294517, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -622.1089314853027, + 299.97700026159185, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -623.6089314853027, + 297.37892405023854, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -625.1089314853027, + 294.7808478388852, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -626.6089314853027, + 292.1827716275319, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -628.1089314853027, + 289.5846954161786, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -629.6089314853027, + 286.9866192048253, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -631.1089314853027, + 284.38854299347196, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -632.6089314853027, + 281.79046678211864, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -634.1089314853027, + 279.1923905707653, + -28.098709338161864 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -635.6089314853027, + 276.594314359412, + -28.098709338161864 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-38-45_269455306/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-38-45_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..100b134b20797bdbb9ac456360ce04b6adee7e4e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-38-45_269455306/pose.jsonl @@ -0,0 +1,1671 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -140.5102149417943, + 583.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -143.1082911531476, + 582.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -145.70636736450092, + 580.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -148.30444357585424, + 579.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -150.90251978720755, + 577.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -153.50059599856087, + 576.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -156.09867220991418, + 574.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -158.6967484212675, + 573.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -161.29482463262082, + 571.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.89290084397413, + 570.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.49097705532745, + 568.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -169.08905326668076, + 567.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -171.68712947803408, + 565.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -174.2852056893874, + 564.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -176.8832819007407, + 562.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -179.48135811209403, + 561.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -182.07943432344734, + 559.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -184.67751053480066, + 558.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -187.27558674615398, + 556.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -189.8736629575073, + 555.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -192.4717391688606, + 553.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -195.06981538021392, + 552.218918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -197.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -197.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -200.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -203.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -206.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -209.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -212.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -215.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -218.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -221.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -224.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -227.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -230.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -233.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -236.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -239.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -242.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -245.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -248.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -251.66789159156724, + 550.718918455177, + -20.994406992136547 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-53-29_168002245/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-53-29_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7387bba05bf331f94d11728fff60e1d6a4ad4bc5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-53-29_168002245/pose.jsonl @@ -0,0 +1,1923 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -830.4810911980364, + 670.0784186223177, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -828.9810911980364, + 667.4803424109643, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -827.4810911980364, + 664.882266199611, + -4.072336638252867 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -827.4810911980364, + 664.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -824.8830149866831, + 663.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -822.2849387753297, + 661.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -819.6868625639763, + 660.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -817.088786352623, + 658.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -814.4907101412696, + 657.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.8926339299162, + 655.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -809.2945577185628, + 654.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -806.6964815072095, + 652.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -804.0984052958561, + 651.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -801.5003290845027, + 649.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -798.9022528731493, + 648.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -796.304176661796, + 646.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -793.7061004504426, + 645.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -791.1080242390892, + 643.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -788.5099480277358, + 642.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -785.9118718163825, + 640.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -783.3137956050291, + 639.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -780.7157193936757, + 637.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.1176431823224, + 636.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -775.519566970969, + 634.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -772.9214907596156, + 633.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -770.3234145482622, + 631.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -767.7253383369089, + 630.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.1272621255555, + 628.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -762.5291859142021, + 627.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -759.9311097028487, + 625.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -757.3330334914954, + 624.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -754.734957280142, + 622.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -752.1368810687886, + 621.382266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -749.5388048574353, + 619.882266199611, + -4.072336638252867 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -749.5388048574353, + 619.882266199611, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -748.0388048574353, + 617.2841899882576, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -746.5388048574353, + 614.6861137769042, + -4.072336638252867 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -745.0388048574353, + 612.0880375655508, + -4.072336638252867 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-6-2_943947739/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-6-2_943947739/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4ef0d135ec87f9d9c728692934c962cb3324fe1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-6-2_943947739/pose.jsonl @@ -0,0 +1,1298 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 21.29744887617702, + 487.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 21.29744887617702, + 484.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.29744887617702, + 481.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 21.29744887617702, + 478.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 21.29744887617702, + 475.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 21.29744887617702, + 472.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 21.29744887617702, + 469.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 21.29744887617702, + 466.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 21.29744887617702, + 463.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 21.29744887617702, + 460.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 21.29744887617702, + 457.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 21.29744887617702, + 454.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 21.29744887617702, + 451.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.29744887617702, + 448.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 21.29744887617702, + 445.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.29744887617702, + 442.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 21.29744887617702, + 439.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.29744887617702, + 436.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 21.29744887617702, + 433.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 21.29744887617702, + 430.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 21.29744887617702, + 427.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 21.29744887617702, + 424.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 21.29744887617702, + 421.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 21.29744887617702, + 418.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 21.29744887617702, + 415.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.29744887617702, + 412.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 21.29744887617702, + 409.6821151510263, + -17.904113843247146 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 21.29744887617702, + 409.6821151510263, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 19.79744887617702, + 407.084038939673, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 18.29744887617702, + 404.4859627283197, + -17.904113843247146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 16.79744887617702, + 401.8878865169664, + -17.904113843247146 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-0_1469348094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-0_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8473ef220653ea97ec45267dd47814787c2796c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-0_1469348094/pose.jsonl @@ -0,0 +1,1620 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -655.6398542570408, + 584.1775792518827, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -654.1398542570408, + 581.5795030405293, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -652.6398542570408, + 578.9814268291759, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -651.1398542570408, + 576.3833506178225, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.6398542570408, + 573.7852744064692, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -648.1398542570408, + 571.1871981951158, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -646.6398542570408, + 568.5891219837624, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -645.1398542570408, + 565.991045772409, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -643.6398542570408, + 563.3929695610557, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.1398542570408, + 560.7948933497023, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -640.6398542570408, + 558.1968171383489, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -639.1398542570408, + 555.5987409269956, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.6398542570408, + 553.0006647156422, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -636.1398542570408, + 550.4025885042888, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -634.6398542570408, + 547.8045122929354, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -633.1398542570408, + 545.2064360815821, + -23.81756086481296 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -633.1398542570408, + 545.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -630.5417780456876, + 543.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -627.9437018343342, + 542.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.3456256229808, + 540.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -622.7475494116275, + 539.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -620.1494732002741, + 537.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -617.5513969889207, + 536.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -614.9533207775673, + 534.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -612.355244566214, + 533.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -609.7571683548606, + 531.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -607.1590921435072, + 530.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -604.5610159321539, + 528.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -601.9629397208005, + 527.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -599.3648635094471, + 525.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -596.7667872980937, + 524.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -594.1687110867404, + 522.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -591.570634875387, + 521.2064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -588.9725586640336, + 519.7064360815821, + -23.81756086481296 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -588.9725586640336, + 519.7064360815821, + -23.81756086481296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -587.4725586640336, + 517.1083598702287, + -23.81756086481296 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-46_1956297539/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-46_1956297539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8746939bc9e6666c98e51a5a3a2aeb416dba2fbf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_1-9-46_1956297539/pose.jsonl @@ -0,0 +1,1293 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 65.2313221233901, + 402.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 65.2313221233901, + 399.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 65.2313221233901, + 396.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 65.2313221233901, + 393.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 65.2313221233901, + 390.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 65.2313221233901, + 387.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 65.2313221233901, + 384.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 65.2313221233901, + 381.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 65.2313221233901, + 378.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 65.2313221233901, + 375.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 65.2313221233901, + 372.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 65.2313221233901, + 369.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 65.2313221233901, + 366.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 65.2313221233901, + 363.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 65.2313221233901, + 360.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 65.2313221233901, + 357.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 65.2313221233901, + 354.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 65.2313221233901, + 351.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 65.2313221233901, + 348.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 65.2313221233901, + 345.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 65.2313221233901, + 342.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 65.2313221233901, + 339.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.2313221233901, + 336.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.2313221233901, + 333.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 65.2313221233901, + 330.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 65.2313221233901, + 327.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 65.2313221233901, + 324.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 65.2313221233901, + 321.48704583146343, + -14.6904854564611 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.2313221233901, + 318.48704583146343, + -14.6904854564611 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-17-19_1738909365/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-17-19_1738909365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffdeef0b4e337da2c505bddaa9623cea63c80b1d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-17-19_1738909365/pose.jsonl @@ -0,0 +1,1277 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -514.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -511.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -508.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -505.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -502.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -499.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -496.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -493.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -490.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -487.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -484.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -481.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -478.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -475.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -472.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -469.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -466.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -463.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -460.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -457.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -454.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -451.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -448.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -445.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -442.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -439.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -436.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -433.5580537703851, + 568.0041002944663, + -14.262212964148688 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-36-32_1435218189/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-36-32_1435218189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2c38e7ce3fe3dc50e7254907b36b01b85f10c68 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-36-32_1435218189/pose.jsonl @@ -0,0 +1,957 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.028733035724521, + 323.10063098511563, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.528733035724521, + 325.69870719646894, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -8.028733035724521, + 328.29678340782226, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -6.528733035724521, + 330.8948596191756, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -5.028733035724521, + 333.4929358305289, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.5287330357245206, + 336.0910120418822, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -2.02873303572452, + 338.6890882532355, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -0.5287330357245197, + 341.28716446458884, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 0.9712669642754808, + 343.88524067594216, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 2.471266964275481, + 346.4833168872955, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 3.9712669642754816, + 349.0813930986488, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 5.4712669642754825, + 351.6794693100021, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 6.9712669642754825, + 354.2775455213554, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 8.471266964275483, + 356.87562173270874, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 9.971266964275483, + 359.47369794406205, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 11.471266964275483, + 362.07177415541537, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 12.971266964275483, + 364.6698503667687, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 14.471266964275483, + 367.267926578122, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 15.971266964275483, + 369.8660027894753, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 17.471266964275483, + 372.46407900082863, + -21.256774397874743 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 17.471266964275483, + 372.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 17.471266964275483, + 375.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.471266964275483, + 378.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 17.471266964275483, + 381.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 17.471266964275483, + 384.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 17.471266964275483, + 387.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 17.471266964275483, + 390.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 17.471266964275483, + 393.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 17.471266964275483, + 396.46407900082863, + -21.256774397874743 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 17.471266964275483, + 399.46407900082863, + -21.256774397874743 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-54-47_134591281/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-54-47_134591281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d646d5c6d4481de45c208288afbeefa4aa4bfd49 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_10-54-47_134591281/pose.jsonl @@ -0,0 +1,1575 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -846.0860492743255, + 412.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -846.0860492743255, + 415.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -846.0860492743255, + 418.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -846.0860492743255, + 421.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -846.0860492743255, + 424.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -846.0860492743255, + 427.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -846.0860492743255, + 430.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -846.0860492743255, + 433.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -846.0860492743255, + 436.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -846.0860492743255, + 439.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -846.0860492743255, + 442.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -846.0860492743255, + 445.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -846.0860492743255, + 448.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -846.0860492743255, + 451.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -846.0860492743255, + 454.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -846.0860492743255, + 457.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.0860492743255, + 460.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -846.0860492743255, + 463.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -846.0860492743255, + 466.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -846.0860492743255, + 469.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -846.0860492743255, + 472.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -846.0860492743255, + 475.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -846.0860492743255, + 478.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -846.0860492743255, + 481.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -846.0860492743255, + 484.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -846.0860492743255, + 487.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -846.0860492743255, + 490.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -846.0860492743255, + 493.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -846.0860492743255, + 496.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -846.0860492743255, + 499.83771199382153, + -9.165785324972479 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -846.0860492743255, + 499.83771199382153, + -9.165785324972479 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -846.0860492743255, + 499.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.6841254856788, + 501.33771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -851.2822016970322, + 502.83771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -853.8802779083856, + 504.33771199382153, + -9.165785324972479 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -853.8802779083856, + 504.33771199382153, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -855.3802779083856, + 506.93578820517484, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -856.8802779083856, + 509.53386441652816, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -858.3802779083856, + 512.1319406278815, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -859.8802779083856, + 514.7300168392348, + -9.165785324972479 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "action": { + "imageid": 40, + "pos": [ + -861.3802779083856, + 517.3280930505882, + -9.165785324972479 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-2-5_1503967857/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-2-5_1503967857/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28c4e1d6eec5a7e88356b1f4f51d8deb51b36cc5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-2-5_1503967857/pose.jsonl @@ -0,0 +1,1088 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -686.6355953550521, + 722.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -689.2336715664055, + 720.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -691.8317477777589, + 719.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.4298239891123, + 717.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -697.0279002004656, + 716.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -699.625976411819, + 714.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -702.2240526231724, + 713.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -704.8221288345258, + 711.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.4202050458791, + 710.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -710.0182812572325, + 708.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -712.6163574685859, + 707.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -715.2144336799392, + 705.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -717.8125098912926, + 704.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -720.410586102646, + 702.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -723.0086623139994, + 701.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -725.6067385253527, + 699.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.2048147367061, + 698.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.8028909480595, + 696.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -733.4009671594129, + 695.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -735.9990433707662, + 693.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.5971195821196, + 692.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -741.195195793473, + 690.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -743.7932720048263, + 689.0860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -746.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -749.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -752.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -755.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -758.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -761.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -764.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -767.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -770.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -773.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -776.3913482161797, + 687.5860198407667, + -20.143101582086377 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-23-19_309112297/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-23-19_309112297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1a4de45d326deb8168145318e1b833de2fe6047a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-23-19_309112297/pose.jsonl @@ -0,0 +1,1274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -651.2041457181691, + 708.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -653.8022219295224, + 706.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -656.4002981408757, + 705.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -658.9983743522291, + 703.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -661.5964505635825, + 702.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -664.1945267749359, + 700.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -666.7926029862892, + 699.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -669.3906791976426, + 697.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -671.988755408996, + 696.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.5868316203494, + 694.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.1849078317027, + 693.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.7829840430561, + 691.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.3810602544095, + 690.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.9791364657628, + 688.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.5772126771162, + 687.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -690.1752888884696, + 685.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.773365099823, + 684.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -695.3714413111763, + 682.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -697.9695175225297, + 681.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -700.5675937338831, + 679.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.1656699452365, + 678.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -705.7637461565898, + 676.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.3618223679432, + 675.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.9598985792966, + 673.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -713.55797479065, + 672.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -716.1560510020033, + 670.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.7541272133567, + 669.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.3522034247101, + 667.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -723.9502796360634, + 666.3520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -726.5483558474168, + 664.8520872169499, + -28.436604750953226 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -726.5483558474168, + 664.8520872169499, + -28.436604750953226 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -729.5483558474168, + 664.8520872169499, + -28.436604750953226 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-25-27_1813080154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-25-27_1813080154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c512e86c6fc53af17dbc26153aeedb8d6a02eb05 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-25-27_1813080154/pose.jsonl @@ -0,0 +1,1717 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -588.3219165068986, + 615.1334204511982, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -589.8219165068986, + 617.7314966625515, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -591.3219165068986, + 620.3295728739049, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -592.8219165068986, + 622.9276490852583, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -594.3219165068986, + 625.5257252966117, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -595.8219165068986, + 628.123801507965, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -597.3219165068986, + 630.7218777193184, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.8219165068986, + 633.3199539306718, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.3219165068986, + 635.9180301420251, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.8219165068986, + 638.5161063533785, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -603.3219165068986, + 641.1141825647319, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -604.8219165068986, + 643.7122587760853, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -606.3219165068986, + 646.3103349874386, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -607.8219165068986, + 648.908411198792, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -609.3219165068986, + 651.5064874101454, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -610.8219165068986, + 654.1045636214988, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -612.3219165068986, + 656.7026398328521, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -613.8219165068986, + 659.3007160442055, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -615.3219165068986, + 661.8987922555589, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -616.8219165068986, + 664.4968684669122, + -0.18863696589243517 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -616.8219165068986, + 664.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -616.8219165068986, + 667.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -616.8219165068986, + 670.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -616.8219165068986, + 673.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -616.8219165068986, + 676.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -616.8219165068986, + 679.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -616.8219165068986, + 682.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -616.8219165068986, + 685.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -616.8219165068986, + 688.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -616.8219165068986, + 691.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -616.8219165068986, + 694.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -616.8219165068986, + 697.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -616.8219165068986, + 700.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -616.8219165068986, + 703.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -616.8219165068986, + 706.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -616.8219165068986, + 709.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -616.8219165068986, + 712.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -616.8219165068986, + 715.4968684669122, + -0.18863696589243517 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -616.8219165068986, + 718.4968684669122, + -0.18863696589243517 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-50-36_2145174067/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-50-36_2145174067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2694e87d0181528590136a56e6c41a647bd34b23 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_11-50-36_2145174067/pose.jsonl @@ -0,0 +1,1879 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -602.4247531578274, + 624.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -602.4247531578274, + 621.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -602.4247531578274, + 618.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -602.4247531578274, + 615.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -602.4247531578274, + 612.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -602.4247531578274, + 609.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -602.4247531578274, + 606.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -602.4247531578274, + 603.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -602.4247531578274, + 600.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -602.4247531578274, + 597.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -602.4247531578274, + 594.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -602.4247531578274, + 591.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.4247531578274, + 588.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -602.4247531578274, + 585.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -602.4247531578274, + 582.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -602.4247531578274, + 579.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -602.4247531578274, + 576.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -602.4247531578274, + 573.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -602.4247531578274, + 570.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -602.4247531578274, + 567.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -602.4247531578274, + 564.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -602.4247531578274, + 561.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -602.4247531578274, + 558.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -602.4247531578274, + 555.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -602.4247531578274, + 552.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -602.4247531578274, + 549.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -602.4247531578274, + 546.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -602.4247531578274, + 543.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -602.4247531578274, + 540.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -602.4247531578274, + 537.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -602.4247531578274, + 534.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -602.4247531578274, + 531.1907146067572, + -0.665558996628377 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -602.4247531578274, + 531.1907146067572, + -0.665558996628377 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -602.4247531578274, + 531.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -599.826676946474, + 529.6907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -597.2286007351206, + 528.1907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -594.6305245237672, + 526.6907146067572, + -0.665558996628377 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -594.6305245237672, + 526.6907146067572, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -593.1305245237672, + 524.0926383954038, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -591.6305245237672, + 521.4945621840504, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -590.1305245237672, + 518.8964859726971, + -0.665558996628377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -588.6305245237672, + 516.2984097613437, + -0.665558996628377 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-54-3_660260756/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-54-3_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..51ff8f9222a269a8a0d1d8ff60cbdd5be2e956f8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-54-3_660260756/pose.jsonl @@ -0,0 +1,1646 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -697.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -691.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -688.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -685.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -682.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -679.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -676.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -673.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -670.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -667.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -664.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -661.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -655.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -652.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -646.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -643.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -640.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -637.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -634.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -631.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -628.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -625.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -622.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -622.5482890120204, + 682.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -619.950212800667, + 683.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -617.3521365893137, + 685.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -614.7540603779603, + 686.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -612.1559841666069, + 688.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -609.5579079552535, + 689.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -606.9598317439002, + 691.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -604.3617555325468, + 692.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -601.7636793211934, + 694.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -599.16560310984, + 695.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -596.5675268984867, + 697.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -593.9694506871333, + 698.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -591.3713744757799, + 700.1076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -588.7732982644266, + 701.6076888549561, + -1.2386532200348057 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 40, + "pos": [ + -588.7732982644266, + 701.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -585.7732982644266, + 701.6076888549561, + -1.2386532200348057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -582.7732982644266, + 701.6076888549561, + -1.2386532200348057 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-56-35_402724286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-56-35_402724286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69da0bc49782f32978f662b035a05ac57e9bd47 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-56-35_402724286/pose.jsonl @@ -0,0 +1,2226 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -701.4764660400441, + 625.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -701.4764660400441, + 622.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -701.4764660400441, + 619.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -701.4764660400441, + 616.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -701.4764660400441, + 613.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -701.4764660400441, + 610.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -701.4764660400441, + 607.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -701.4764660400441, + 604.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -701.4764660400441, + 601.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.4764660400441, + 598.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -701.4764660400441, + 595.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -701.4764660400441, + 592.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -701.4764660400441, + 589.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -701.4764660400441, + 586.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -701.4764660400441, + 583.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -701.4764660400441, + 580.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -701.4764660400441, + 577.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -701.4764660400441, + 574.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -701.4764660400441, + 571.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -701.4764660400441, + 568.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -701.4764660400441, + 565.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -701.4764660400441, + 562.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -701.4764660400441, + 559.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -701.4764660400441, + 556.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -701.4764660400441, + 553.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -701.4764660400441, + 550.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -701.4764660400441, + 547.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -701.4764660400441, + 544.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.4764660400441, + 541.0873415216627, + -5.706359312742432 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.4764660400441, + 541.0873415216627, + -5.706359312742432 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -701.4764660400441, + 541.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -704.0745422513974, + 539.5873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.6726184627507, + 538.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.2706946741041, + 536.5873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -711.8687708854575, + 535.0873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -714.4668470968109, + 533.5873415216627, + -5.706359312742432 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -714.4668470968109, + 533.5873415216627, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -715.9668470968109, + 530.9892653103093, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -717.4668470968109, + 528.3911890989559, + -5.706359312742432 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -718.9668470968109, + 525.7931128876025, + -5.706359312742432 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-8-48_184803526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-8-48_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f452ebf23956e8f6da95040f8240a855d917f9b8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_12-8-48_184803526/pose.jsonl @@ -0,0 +1,980 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -27.521760203695678, + 118.87209465166816, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.021760203695678, + 121.47017086302148, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -24.521760203695678, + 124.0682470743748, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -23.021760203695678, + 126.66632328572811, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -21.521760203695678, + 129.26439949708143, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -20.021760203695678, + 131.86247570843474, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -18.521760203695678, + 134.46055191978806, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -17.021760203695678, + 137.05862813114138, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -15.521760203695678, + 139.6567043424947, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -14.021760203695678, + 142.254780553848, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -12.521760203695678, + 144.85285676520132, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -11.021760203695678, + 147.45093297655464, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -9.521760203695678, + 150.04900918790796, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -8.021760203695678, + 152.64708539926127, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -6.521760203695678, + 155.2451616106146, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -5.021760203695678, + 157.8432378219679, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -3.521760203695677, + 160.44131403332122, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -2.0217602036956768, + 163.03939024467454, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -0.5217602036956763, + 165.63746645602785, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 0.9782397963043241, + 168.23554266738117, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 2.4782397963043246, + 170.83361887873448, + -2.688632029083138 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 2.4782397963043246, + 170.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.07631600765764, + 172.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 7.674392219010956, + 173.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 10.272468430364272, + 175.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 12.870544641717588, + 176.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 15.468620853070904, + 178.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 18.06669706442422, + 179.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982991 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 20.664773275777534, + 181.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 23.26284948713085, + 182.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 25.860925698484166, + 184.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 28.459001909837482, + 185.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 31.0570781211908, + 187.33361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 33.655154332544114, + 188.83361887873448, + -2.688632029083138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 36.25323054389743, + 190.33361887873448, + -2.688632029083138 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-3-28_1633108117/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-3-28_1633108117/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3e68b7fa2cf1df2fe587157ee1967a893f1b63f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-3-28_1633108117/pose.jsonl @@ -0,0 +1,2020 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -488.82654307182804, + 403.10704005333224, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -490.32654307182804, + 405.70511626468556, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -491.82654307182804, + 408.3031924760389, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -493.32654307182804, + 410.9012686873922, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -494.82654307182804, + 413.4993448987455, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -496.32654307182804, + 416.0974211100988, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -497.82654307182804, + 418.69549732145214, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -499.32654307182804, + 421.29357353280545, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -500.82654307182804, + 423.89164974415877, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -502.32654307182804, + 426.4897259555121, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -503.82654307182804, + 429.0878021668654, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -505.32654307182804, + 431.6858783782187, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -506.82654307182804, + 434.28395458957203, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -508.32654307182804, + 436.88203080092535, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -509.82654307182804, + 439.48010701227867, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -511.32654307182804, + 442.078183223632, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -512.826543071828, + 444.6762594349853, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -514.326543071828, + 447.2743356463386, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -515.826543071828, + 449.87241185769193, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -517.326543071828, + 452.47048806904525, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -518.826543071828, + 455.06856428039856, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -520.326543071828, + 457.6666404917519, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -521.826543071828, + 460.2647167031052, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -523.326543071828, + 462.8627929144585, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -524.826543071828, + 465.4608691258118, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -526.326543071828, + 468.05894533716514, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.826543071828, + 470.65702154851846, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -529.326543071828, + 473.2550977598718, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -530.826543071828, + 475.8531739712251, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -532.326543071828, + 478.4512501825784, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -533.826543071828, + 481.0493263939317, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -535.326543071828, + 483.64740260528504, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -536.826543071828, + 486.24547881663835, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -538.326543071828, + 488.84355502799167, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -539.826543071828, + 491.441631239345, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -541.326543071828, + 494.0397074506983, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -542.826543071828, + 496.6377836620516, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -544.326543071828, + 499.23585987340493, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -545.826543071828, + 501.83393608475825, + -18.968668525835866 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -545.826543071828, + 501.83393608475825, + -18.968668525835866 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -545.826543071828, + 504.83393608475825, + -18.968668525835866 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-37-38_424238335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-37-38_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..017f1fda6e309c29ab78051ae6f11f677e161c9e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-37-38_424238335/pose.jsonl @@ -0,0 +1,812 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -586.8588673528163, + 258.23590566499195, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -585.3588673528163, + 255.63782945363863, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -583.8588673528163, + 253.03975324228531, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -582.3588673528163, + 250.441677030932, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -580.8588673528163, + 247.84360081957868, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -579.3588673528163, + 245.24552460822537, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -577.8588673528163, + 242.64744839687205, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -576.3588673528163, + 240.04937218551873, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -574.8588673528163, + 237.45129597416542, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -573.3588673528163, + 234.8532197628121, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -571.8588673528163, + 232.2551435514588, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -570.3588673528163, + 229.65706734010547, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -568.8588673528163, + 227.05899112875215, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -567.3588673528163, + 224.46091491739884, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -565.8588673528163, + 221.86283870604552, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -564.3588673528163, + 219.2647624946922, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -562.8588673528163, + 216.6666862833389, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -561.3588673528163, + 214.06861007198557, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -559.8588673528163, + 211.47053386063226, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -558.3588673528163, + 208.87245764927894, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -556.8588673528163, + 206.27438143792563, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -555.3588673528163, + 203.6763052265723, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -553.8588673528163, + 201.078229015219, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -552.3588673528163, + 198.48015280386568, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -550.8588673528163, + 195.88207659251236, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -549.3588673528163, + 193.28400038115905, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -547.8588673528163, + 190.68592416980573, + -12.314262955576329 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -547.8588673528163, + 190.68592416980573, + -12.314262955576329 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -545.260791141463, + 189.18592416980573, + -12.314262955576329 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-42-8_1350490027/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-42-8_1350490027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db8b50ec59d69ba7c62fdc8c10d4b82b904755fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-42-8_1350490027/pose.jsonl @@ -0,0 +1,1173 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -449.65520331018524, + 217.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -452.25327952153856, + 218.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -454.8513557328919, + 220.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -457.4494319442452, + 221.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -460.0475081555985, + 223.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -462.6455843669518, + 224.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -465.24366057830514, + 226.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -467.84173678965846, + 227.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -470.43981300101177, + 229.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -473.0378892123651, + 230.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -475.6359654237184, + 232.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -478.2340416350717, + 233.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -480.83211784642504, + 235.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -483.43019405777835, + 236.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -486.02827026913167, + 238.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -488.626346480485, + 239.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -491.2244226918383, + 241.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -493.8224989031916, + 242.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -496.42057511454493, + 244.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -499.01865132589825, + 245.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -501.61672753725156, + 247.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -504.2148037486049, + 248.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -506.8128799599582, + 250.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -509.4109561713115, + 251.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -512.0090323826648, + 253.24719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -514.6071085940182, + 254.74719144786422, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -517.2051848053716, + 256.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -519.803261016725, + 257.7471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -522.4013372280783, + 259.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -524.9994134394317, + 260.7471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -527.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -527.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -530.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -533.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -536.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -539.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -542.5974896507851, + 262.2471914478642, + -27.47543449384382 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-53-57_521595368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-53-57_521595368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6da095f02562f4784d1f03e3200c2755dcbb2819 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-53-57_521595368/pose.jsonl @@ -0,0 +1,882 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 154.1790307108928, + 325.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 154.1790307108928, + 328.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 154.1790307108928, + 331.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 154.1790307108928, + 334.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 154.1790307108928, + 337.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 154.1790307108928, + 340.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 154.1790307108928, + 343.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 154.1790307108928, + 346.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 154.1790307108928, + 349.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 154.1790307108928, + 352.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.1790307108928, + 355.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.1790307108928, + 358.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 154.1790307108928, + 361.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 154.1790307108928, + 364.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 154.1790307108928, + 367.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 154.1790307108928, + 370.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 154.1790307108928, + 373.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 154.1790307108928, + 376.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 154.1790307108928, + 379.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 154.1790307108928, + 382.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 154.1790307108928, + 385.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 154.1790307108928, + 388.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 154.1790307108928, + 391.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 154.1790307108928, + 394.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 154.1790307108928, + 397.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 154.1790307108928, + 400.21710076570815, + -26.950389387447068 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 154.1790307108928, + 400.21710076570815, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 152.6790307108928, + 402.81517697706147, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 151.1790307108928, + 405.4132531884148, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 149.6790307108928, + 408.0113293997681, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 148.1790307108928, + 410.6094056111214, + -26.950389387447068 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + 146.6790307108928, + 413.20748182247473, + -26.950389387447068 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 145.14392518997192, + 413.20618629455566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-58-23_1369133069/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-58-23_1369133069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fbdc9980fa6a5b7c4b1519760b6ec3d8bd2b96a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-58-23_1369133069/pose.jsonl @@ -0,0 +1,1796 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -358.44322731015814, + 531.0521806369603, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -359.94322731015814, + 533.6502568483136, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -361.44322731015814, + 536.248333059667, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -362.94322731015814, + 538.8464092710203, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -364.44322731015814, + 541.4444854823737, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -365.94322731015814, + 544.0425616937271, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -367.44322731015814, + 546.6406379050804, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -368.94322731015814, + 549.2387141164338, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -370.44322731015814, + 551.8367903277872, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -371.94322731015814, + 554.4348665391406, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -373.44322731015814, + 557.0329427504939, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -374.94322731015814, + 559.6310189618473, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -376.44322731015814, + 562.2290951732007, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -377.94322731015814, + 564.827171384554, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -379.44322731015814, + 567.4252475959074, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.94322731015814, + 570.0233238072608, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -382.44322731015814, + 572.6214000186142, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -383.94322731015814, + 575.2194762299675, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -385.44322731015814, + 577.8175524413209, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -386.94322731015814, + 580.4156286526743, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -388.44322731015814, + 583.0137048640277, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -389.94322731015814, + 585.611781075381, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -391.44322731015814, + 588.2098572867344, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -392.94322731015814, + 590.8079334980878, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -394.44322731015814, + 593.4060097094412, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -395.94322731015814, + 596.0040859207945, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -397.44322731015814, + 598.6021621321479, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -398.94322731015814, + 601.2002383435013, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -400.44322731015814, + 603.7983145548546, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -401.94322731015814, + 606.396390766208, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -403.44322731015814, + 608.9944669775614, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -404.94322731015814, + 611.5925431889148, + -7.377416599127805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -406.44322731015814, + 614.1906194002681, + -7.377416599127805 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-9-35_498777856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-9-35_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de20a1d5b2b73ade795925f2f6a53c95d5741349 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_13-9-35_498777856/pose.jsonl @@ -0,0 +1,938 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -19.250475560305645, + 401.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -21.84855177165896, + 402.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -24.446627983012277, + 404.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -27.044704194365593, + 405.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -29.64278040571891, + 407.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -32.240856617072225, + 408.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -34.83893282842554, + 410.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -37.43700903977886, + 411.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -40.03508525113217, + 413.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -42.63316146248549, + 414.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -45.231237673838805, + 416.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -47.82931388519212, + 417.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -50.42739009654544, + 419.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -53.02546630789875, + 420.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -55.62354251925207, + 422.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -58.221618730605385, + 423.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -60.8196949419587, + 425.4518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -63.41777115331202, + 426.9518424812559, + -19.537691330532603 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -63.41777115331202, + 426.9518424812559, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -64.91777115331202, + 429.5499186926092, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -66.41777115331202, + 432.1479949039625, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -67.91777115331202, + 434.74607111531583, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -69.41777115331202, + 437.34414732666914, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -70.91777115331202, + 439.94222353802246, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -72.41777115331202, + 442.5402997493758, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -73.91777115331202, + 445.1383759607291, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -75.41777115331202, + 447.7364521720824, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -76.91777115331202, + 450.3345283834357, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -78.41777115331202, + 452.93260459478904, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -79.91777115331202, + 455.53068080614236, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -81.41777115331202, + 458.1287570174957, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -82.91777115331202, + 460.726833228849, + -19.537691330532603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -84.41777115331202, + 463.3249094402023, + -19.537691330532603 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-11-46_1998898814/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-11-46_1998898814/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44d37051e9073077a5caa2f2c2e1b364fb49a06a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-11-46_1998898814/pose.jsonl @@ -0,0 +1,742 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1.492050828318142, + 215.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -1.106025383035174, + 214.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -3.70410159438849, + 212.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -6.302177805741806, + 211.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -8.900254017095122, + 209.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -11.498330228448438, + 208.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -14.096406439801754, + 206.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -16.69448265115507, + 205.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -19.292558862508386, + 203.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -21.890635073861702, + 202.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -24.488711285215018, + 200.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -27.086787496568334, + 199.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -29.68486370792165, + 197.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -32.282939919274966, + 196.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -34.88101613062828, + 194.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -37.4790923419816, + 193.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -40.077168553334914, + 191.74574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -42.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -42.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -45.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -48.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -51.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -54.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -57.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -60.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -63.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -66.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -69.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -72.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -75.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -78.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -81.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -84.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -87.67524476468823, + 190.24574371942632, + -5.3069237916722045 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-12-6_1548233367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-12-6_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6af1155c7d56cf859c1ea0492af9fd0fb8504200 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-12-6_1548233367/pose.jsonl @@ -0,0 +1,868 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.4149741028037, + 288.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -793.013050314157, + 290.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -795.6111265255104, + 291.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -798.2092027368637, + 293.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -800.8072789482171, + 294.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -803.4053551595705, + 296.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -806.0034313709239, + 297.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -808.6015075822772, + 299.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -811.1995837936306, + 300.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -813.797660004984, + 302.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -816.3957362163374, + 303.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -818.9938124276907, + 305.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -821.5918886390441, + 306.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -824.1899648503975, + 308.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -826.7880410617508, + 309.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -829.3861172731042, + 311.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -831.9841934844576, + 312.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -834.582269695811, + 314.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -837.1803459071643, + 315.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -839.7784221185177, + 317.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -842.3764983298711, + 318.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -844.9745745412245, + 320.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -847.5726507525778, + 321.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -850.1707269639312, + 323.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -852.7688031752846, + 324.51926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -855.366879386638, + 326.01926382270574, + -9.217637081207418 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -855.366879386638, + 326.01926382270574, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -856.866879386638, + 328.61734003405905, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -858.366879386638, + 331.21541624541237, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -859.866879386638, + 333.8134924567657, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -861.366879386638, + 336.411568668119, + -9.217637081207418 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -862.866879386638, + 339.0096448794723, + -9.217637081207418 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-16-52_1474612399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-16-52_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2bf0853ee9750d076918f8bf15f2dbd7cdda764e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-16-52_1474612399/pose.jsonl @@ -0,0 +1,1648 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -631.7528451161667, + 668.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -631.7528451161667, + 665.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -631.7528451161667, + 662.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -631.7528451161667, + 659.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -631.7528451161667, + 656.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -631.7528451161667, + 653.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -631.7528451161667, + 650.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -631.7528451161667, + 647.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -631.7528451161667, + 644.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -631.7528451161667, + 641.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -631.7528451161667, + 638.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -631.7528451161667, + 635.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -631.7528451161667, + 632.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -631.7528451161667, + 629.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -631.7528451161667, + 626.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -631.7528451161667, + 623.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -631.7528451161667, + 620.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -631.7528451161667, + 617.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.7528451161667, + 614.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.7528451161667, + 611.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -631.7528451161667, + 608.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -631.7528451161667, + 605.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -631.7528451161667, + 602.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.7528451161667, + 599.7798740744081, + -4.469970630125729 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -631.7528451161667, + 599.7798740744081, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -633.2528451161667, + 597.1817978630547, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -634.7528451161667, + 594.5837216517014, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -636.2528451161667, + 591.985645440348, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -637.7528451161667, + 589.3875692289946, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -639.2528451161667, + 586.7894930176412, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.7528451161667, + 584.1914168062879, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.2528451161667, + 581.5933405949345, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -643.7528451161667, + 578.9952643835811, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -645.2528451161667, + 576.3971881722277, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -646.7528451161667, + 573.7991119608744, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -648.2528451161667, + 571.201035749521, + -4.469970630125729 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -649.7528451161667, + 568.6029595381676, + -4.469970630125729 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-23-52_1687926652/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-23-52_1687926652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44f49f1727ee952b6c82ef728362011bec78e419 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-23-52_1687926652/pose.jsonl @@ -0,0 +1,1856 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -775.52159840221, + 457.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -775.52159840221, + 460.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -775.52159840221, + 463.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -775.52159840221, + 466.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -775.52159840221, + 469.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -775.52159840221, + 472.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -775.52159840221, + 475.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -775.52159840221, + 478.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -775.52159840221, + 481.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.52159840221, + 484.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.52159840221, + 487.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -775.52159840221, + 490.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -775.52159840221, + 493.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -775.52159840221, + 496.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -775.52159840221, + 499.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -775.52159840221, + 502.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -775.52159840221, + 505.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -775.52159840221, + 508.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -775.52159840221, + 511.79647520218066, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.52159840221, + 514.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -775.52159840221, + 517.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -775.52159840221, + 520.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -775.52159840221, + 523.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -775.52159840221, + 526.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -775.52159840221, + 529.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -775.52159840221, + 532.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -775.52159840221, + 535.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -775.52159840221, + 538.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -775.52159840221, + 541.7964752021807, + -3.378617842005198 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -775.52159840221, + 541.7964752021807, + -3.378617842005198 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -775.52159840221, + 541.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -778.1196746135633, + 543.2964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -780.7177508249167, + 544.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -783.3158270362701, + 546.2964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -785.9139032476235, + 547.7964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -788.5119794589768, + 549.2964752021807, + -3.378617842005198 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -791.1100556703302, + 550.7964752021807, + -3.378617842005198 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-25-37_593209441/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-25-37_593209441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1364ec3878f0ee3260bd4da978c27a210b9a432 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-25-37_593209441/pose.jsonl @@ -0,0 +1,1084 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -422.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -425.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -428.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -431.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -434.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -437.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -440.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -443.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -446.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -449.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -452.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -455.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -458.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -461.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -464.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -467.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -470.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -473.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -476.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -479.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -482.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -485.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -488.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -491.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -494.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -497.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -500.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -503.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -506.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -509.12356127067676, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -512.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -515.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -518.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -521.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -524.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -524.1235612706768, + 440.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -526.72163748203, + 438.80080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -529.3197136933834, + 437.30080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -531.9177899047368, + 435.80080723898345, + -13.762415659624178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -534.5158661160901, + 434.30080723898345, + -13.762415659624178 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-30_352406219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-30_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8cc4e3166d94be8437ce63839b32b6fa51ba68af --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-30_352406219/pose.jsonl @@ -0,0 +1,1287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -424.7779387635133, + 386.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.3760149748666, + 387.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -429.97409118621994, + 389.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -432.57216739757325, + 390.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -435.17024360892657, + 392.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -437.7683198202799, + 393.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -440.3663960316332, + 395.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -442.9644722429865, + 396.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -445.56254845433983, + 398.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -448.16062466569315, + 399.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -450.75870087704646, + 401.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -453.3567770883998, + 402.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -455.9548532997531, + 404.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -458.5529295111064, + 405.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -461.15100572245973, + 407.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -463.74908193381304, + 408.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -466.34715814516636, + 410.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -468.9452343565197, + 411.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -471.543310567873, + 413.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -474.1413867792263, + 414.61230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -476.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -476.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -479.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -482.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -485.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -488.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -491.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -494.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -497.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -500.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -503.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -506.7394629905796, + 416.11230431171475, + -11.079848401711601 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-49_1600028624/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-49_1600028624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb975db9b6bf536786fd7c0064e8e8008a9d11b6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-33-49_1600028624/pose.jsonl @@ -0,0 +1,1190 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -622.5540445169577, + 737.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -622.5540445169577, + 734.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -622.5540445169577, + 731.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -622.5540445169577, + 728.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -622.5540445169577, + 725.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -622.5540445169577, + 722.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -622.5540445169577, + 719.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -622.5540445169577, + 716.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -622.5540445169577, + 713.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -622.5540445169577, + 710.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -622.5540445169577, + 707.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -622.5540445169577, + 704.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -622.5540445169577, + 701.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -622.5540445169577, + 698.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -622.5540445169577, + 695.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -622.5540445169577, + 692.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -622.5540445169577, + 689.9965493064319, + -16.378572724412688 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.5540445169577, + 689.9965493064319, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -621.0540445169577, + 687.3984730950785, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -619.5540445169577, + 684.8003968837252, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -618.0540445169577, + 682.2023206723718, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -616.5540445169577, + 679.6042444610184, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -615.0540445169577, + 677.006168249665, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -613.5540445169577, + 674.4080920383117, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -612.0540445169577, + 671.8100158269583, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -610.5540445169577, + 669.2119396156049, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -609.0540445169577, + 666.6138634042516, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -607.5540445169577, + 664.0157871928982, + -16.378572724412688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -606.0540445169577, + 661.4177109815448, + -16.378572724412688 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-39-49_439493451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-39-49_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be86d2868846a1ea2edb32af6733d853938e4798 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-39-49_439493451/pose.jsonl @@ -0,0 +1,1353 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.41131228987507, + 477.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -333.41131228987507, + 474.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -333.41131228987507, + 471.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -333.41131228987507, + 468.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.41131228987507, + 465.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -333.41131228987507, + 462.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -333.41131228987507, + 459.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -333.41131228987507, + 456.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.41131228987507, + 453.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -333.41131228987507, + 450.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -333.41131228987507, + 447.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -333.41131228987507, + 444.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -333.41131228987507, + 441.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -333.41131228987507, + 438.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -333.41131228987507, + 435.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.41131228987507, + 432.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -333.41131228987507, + 429.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -333.41131228987507, + 426.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.41131228987507, + 423.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -333.41131228987507, + 420.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -333.41131228987507, + 417.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -333.41131228987507, + 414.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.41131228987507, + 411.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -333.41131228987507, + 408.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.41131228987507, + 405.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -333.41131228987507, + 402.98012507601254, + -21.480675062139795 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -333.41131228987507, + 402.98012507601254, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -334.91131228987507, + 400.3820488646592, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -336.41131228987507, + 397.7839726533059, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -337.91131228987507, + 395.1858964419526, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -339.41131228987507, + 392.5878202305993, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -340.91131228987507, + 389.98974401924596, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -342.41131228987507, + 387.39166780789265, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -343.91131228987507, + 384.79359159653933, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -345.41131228987507, + 382.195515385186, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -346.91131228987507, + 379.5974391738327, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -348.41131228987507, + 376.9993629624794, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -349.91131228987507, + 374.40128675112607, + -21.480675062139795 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -351.41131228987507, + 371.80321053977275, + -21.480675062139795 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-28_412776091/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-28_412776091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8ca30c9c6aaf1ec0e7617ca39c2a356eb1d1258 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-28_412776091/pose.jsonl @@ -0,0 +1,1587 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -212.54741705295638, + 505.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -212.54741705295638, + 508.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -212.54741705295638, + 511.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -212.54741705295638, + 514.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -212.54741705295638, + 517.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -212.54741705295638, + 520.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -212.54741705295638, + 523.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -212.54741705295638, + 526.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -212.54741705295638, + 529.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -212.54741705295638, + 532.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -212.54741705295638, + 535.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -212.54741705295638, + 538.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -212.54741705295638, + 541.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -212.54741705295638, + 544.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -212.54741705295638, + 547.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -212.54741705295638, + 550.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -212.54741705295638, + 553.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -212.54741705295638, + 556.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -212.54741705295638, + 559.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -212.54741705295638, + 562.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -212.54741705295638, + 565.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -212.54741705295638, + 568.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -212.54741705295638, + 571.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -212.54741705295638, + 574.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -212.54741705295638, + 577.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -212.54741705295638, + 580.5404179699947, + -13.46576879121076 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -212.54741705295638, + 580.5404179699947, + -13.46576879121076 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -212.54741705295638, + 580.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -215.1454932643097, + 582.0404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -217.743569475663, + 583.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -220.34164568701632, + 585.0404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -222.93972189836964, + 586.5404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -225.53779810972296, + 588.0404179699947, + -13.46576879121076 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -228.13587432107627, + 589.5404179699947, + -13.46576879121076 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-48_1424268980/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-48_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c925d3083c43bd9babb023a4c3e1a87fff70ecc4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-4-48_1424268980/pose.jsonl @@ -0,0 +1,1601 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -590.3861733204161, + 691.1632716764507, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -588.8861733204161, + 688.5651954650973, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -587.3861733204161, + 685.9671192537439, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -585.8861733204161, + 683.3690430423906, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -584.3861733204161, + 680.7709668310372, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -582.8861733204161, + 678.1728906196838, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -581.3861733204161, + 675.5748144083304, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -579.8861733204161, + 672.9767381969771, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -578.3861733204161, + 670.3786619856237, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -576.8861733204161, + 667.7805857742703, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -575.3861733204161, + 665.182509562917, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -573.8861733204161, + 662.5844333515636, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -572.3861733204161, + 659.9863571402102, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -570.8861733204161, + 657.3882809288568, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -569.3861733204161, + 654.7902047175035, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -567.8861733204161, + 652.1921285061501, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -566.3861733204161, + 649.5940522947967, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -564.8861733204161, + 646.9959760834433, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -563.3861733204161, + 644.39789987209, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -561.8861733204161, + 641.7998236607366, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -560.3861733204161, + 639.2017474493832, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -558.8861733204161, + 636.6036712380298, + -19.049996733405152 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -558.8861733204161, + 636.6036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -556.2880971090628, + 635.1036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -553.6900208977095, + 633.6036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -551.0919446863561, + 632.1036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -548.4938684750027, + 630.6036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -545.8957922636494, + 629.1036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -543.297716052296, + 627.6036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -540.6996398409426, + 626.1036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -538.1015636295892, + 624.6036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -535.5034874182359, + 623.1036712380298, + -19.049996733405152 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -532.9054112068825, + 621.6036712380298, + -19.049996733405152 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-41-58_1681692777/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-41-58_1681692777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdec0a2a28ac00ea9d9e8215f74912a0c72c81ac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-41-58_1681692777/pose.jsonl @@ -0,0 +1,1616 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -619.3826130085141, + 832.8707763537323, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -620.8826130085141, + 830.2727001423789, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -622.3826130085141, + 827.6746239310255, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -623.8826130085141, + 825.0765477196721, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -625.3826130085141, + 822.4784715083188, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -626.8826130085141, + 819.8803952969654, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -628.3826130085141, + 817.282319085612, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -629.8826130085141, + 814.6842428742586, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -631.3826130085141, + 812.0861666629053, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -632.8826130085141, + 809.4880904515519, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.3826130085141, + 806.8900142401985, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -635.8826130085141, + 804.2919380288452, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.3826130085141, + 801.6938618174918, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -638.8826130085141, + 799.0957856061384, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -640.3826130085141, + 796.497709394785, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -641.8826130085141, + 793.8996331834317, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -643.3826130085141, + 791.3015569720783, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -644.8826130085141, + 788.7034807607249, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -646.3826130085141, + 786.1054045493715, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -647.8826130085141, + 783.5073283380182, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -649.3826130085141, + 780.9092521266648, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -650.8826130085141, + 778.3111759153114, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -652.3826130085141, + 775.713099703958, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -653.8826130085141, + 773.1150234926047, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -655.3826130085141, + 770.5169472812513, + -0.4112737913572069 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -655.3826130085141, + 770.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -655.3826130085141, + 767.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -655.3826130085141, + 764.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -655.3826130085141, + 761.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -655.3826130085141, + 758.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -655.3826130085141, + 755.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -655.3826130085141, + 752.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -655.3826130085141, + 749.5169472812513, + -0.4112737913572069 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -655.3826130085141, + 746.5169472812513, + -0.4112737913572069 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-46-59_1540383426/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-46-59_1540383426/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f31c00e3333add5dad0fa0a6803cb3c0585ef05 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-46-59_1540383426/pose.jsonl @@ -0,0 +1,1679 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -501.5076878868904, + 348.1626465956666, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -503.0076878868904, + 350.76072280701993, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -504.5076878868904, + 353.35879901837325, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -506.0076878868904, + 355.95687522972656, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -507.5076878868904, + 358.5549514410799, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -509.0076878868904, + 361.1530276524332, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -510.5076878868904, + 363.7511038637865, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -512.0076878868904, + 366.3491800751398, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -513.5076878868904, + 368.94725628649314, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -515.0076878868904, + 371.54533249784646, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -516.5076878868904, + 374.1434087091998, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -518.0076878868904, + 376.7414849205531, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -519.5076878868904, + 379.3395611319064, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -521.0076878868904, + 381.9376373432597, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -522.5076878868904, + 384.53571355461304, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -524.0076878868904, + 387.13378976596636, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -525.5076878868904, + 389.73186597731967, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -527.0076878868904, + 392.329942188673, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -528.5076878868904, + 394.9280184000263, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -530.0076878868904, + 397.5260946113796, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -531.5076878868904, + 400.12417082273294, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -533.0076878868904, + 402.72224703408625, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -534.5076878868904, + 405.32032324543957, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -536.0076878868904, + 407.9183994567929, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -537.5076878868904, + 410.5164756681462, + -1.0927701581605085 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -537.5076878868904, + 410.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -537.5076878868904, + 413.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -537.5076878868904, + 416.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -537.5076878868904, + 419.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -537.5076878868904, + 422.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -537.5076878868904, + 425.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -537.5076878868904, + 428.5164756681462, + -1.0927701581605085 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -537.5076878868904, + 431.5164756681462, + -1.0927701581605085 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-51-3_468703135/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-51-3_468703135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66e414626642c6dfffea60daeb909dc91abcacde --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-51-3_468703135/pose.jsonl @@ -0,0 +1,1217 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 169.9710885970797, + 225.3040392071455, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 168.4710885970797, + 222.7059629957922, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 166.9710885970797, + 220.10788678443888, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 165.4710885970797, + 217.50981057308556, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 163.9710885970797, + 214.91173436173224, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 162.4710885970797, + 212.31365815037893, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 160.9710885970797, + 209.7155819390256, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 159.4710885970797, + 207.1175057276723, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 157.9710885970797, + 204.51942951631898, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 156.4710885970797, + 201.92135330496566, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 154.9710885970797, + 199.32327709361235, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 153.4710885970797, + 196.72520088225903, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 151.9710885970797, + 194.12712467090572, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 150.4710885970797, + 191.5290484595524, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 148.9710885970797, + 188.93097224819908, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 147.4710885970797, + 186.33289603684577, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 145.9710885970797, + 183.73481982549245, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 144.4710885970797, + 181.13674361413914, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 142.9710885970797, + 178.53866740278582, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 141.4710885970797, + 175.9405911914325, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 139.9710885970797, + 173.3425149800792, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 138.4710885970797, + 170.74443876872587, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.9710885970797, + 168.14636255737256, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 135.4710885970797, + 165.54828634601924, + -12.157241951685599 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 135.4710885970797, + 165.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 135.4710885970797, + 162.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 135.4710885970797, + 159.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 135.4710885970797, + 156.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 135.4710885970797, + 153.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 135.4710885970797, + 150.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 135.4710885970797, + 147.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 135.4710885970797, + 144.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 135.4710885970797, + 141.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 135.4710885970797, + 138.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 135.4710885970797, + 135.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 135.4710885970797, + 132.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 135.4710885970797, + 129.54828634601924, + -12.157241951685599 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 135.4710885970797, + 126.54828634601924, + -12.157241951685599 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-53-50_2089018456/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-53-50_2089018456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dcff87b1b54acf2f4382cc3c3acf204ff784dc46 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-53-50_2089018456/pose.jsonl @@ -0,0 +1,1478 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -402.4145021286394, + 235.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -402.4145021286394, + 232.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -402.4145021286394, + 229.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -402.4145021286394, + 226.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -402.4145021286394, + 223.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -402.4145021286394, + 220.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -402.4145021286394, + 217.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -402.4145021286394, + 214.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -402.4145021286394, + 211.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -402.4145021286394, + 208.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -402.4145021286394, + 205.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -402.4145021286394, + 202.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -402.4145021286394, + 199.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -402.4145021286394, + 196.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -402.4145021286394, + 193.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -402.4145021286394, + 190.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -402.4145021286394, + 187.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -402.4145021286394, + 184.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -402.4145021286394, + 181.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -402.4145021286394, + 178.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -402.4145021286394, + 175.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -402.4145021286394, + 172.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -402.4145021286394, + 169.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -402.4145021286394, + 166.6283128198717, + -28.868650012909153 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -402.4145021286394, + 166.6283128198717, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -403.9145021286394, + 164.03023660851838, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -405.4145021286394, + 161.43216039716506, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -406.9145021286394, + 158.83408418581175, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -408.4145021286394, + 156.23600797445843, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -409.9145021286394, + 153.63793176310512, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -411.4145021286394, + 151.0398555517518, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -412.9145021286394, + 148.44177934039848, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -414.4145021286394, + 145.84370312904517, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -415.9145021286394, + 143.24562691769185, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -417.4145021286394, + 140.64755070633854, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -418.9145021286394, + 138.04947449498522, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -420.4145021286394, + 135.4513982836319, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -421.9145021286394, + 132.8533220722786, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -423.4145021286394, + 130.25524586092527, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -424.9145021286394, + 127.65716964957196, + -28.868650012909153 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -424.9145021286394, + 127.65716964957196, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -424.9145021286394, + 124.65716964957196, + -28.868650012909153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -424.9145021286394, + 121.65716964957196, + -28.868650012909153 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-54-12_628175011/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-54-12_628175011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..48492f82240693128fe33599290d5f9f13a6ca64 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-54-12_628175011/pose.jsonl @@ -0,0 +1,1437 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -520.4498094736255, + 305.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -520.4498094736255, + 302.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -520.4498094736255, + 299.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -520.4498094736255, + 296.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -520.4498094736255, + 293.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -520.4498094736255, + 290.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -520.4498094736255, + 287.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -520.4498094736255, + 284.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -520.4498094736255, + 281.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -520.4498094736255, + 278.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -520.4498094736255, + 275.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -520.4498094736255, + 272.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -520.4498094736255, + 269.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -520.4498094736255, + 266.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -520.4498094736255, + 263.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -520.4498094736255, + 260.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -520.4498094736255, + 257.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -520.4498094736255, + 254.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -520.4498094736255, + 251.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -520.4498094736255, + 248.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -520.4498094736255, + 245.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -520.4498094736255, + 242.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -520.4498094736255, + 239.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -520.4498094736255, + 236.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -520.4498094736255, + 233.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -520.4498094736255, + 230.76359488265786, + -8.32250991306843 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -520.4498094736255, + 230.76359488265786, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -521.9498094736255, + 228.16551867130454, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -523.4498094736255, + 225.56744245995122, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -524.9498094736255, + 222.9693662485979, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -526.4498094736255, + 220.3712900372446, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -527.9498094736255, + 217.77321382589128, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -529.4498094736255, + 215.17513761453796, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -530.9498094736255, + 212.57706140318464, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -532.4498094736255, + 209.97898519183133, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -533.9498094736255, + 207.380908980478, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -535.4498094736255, + 204.7828327691247, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -536.9498094736255, + 202.18475655777138, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -538.4498094736255, + 199.58668034641806, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -539.9498094736255, + 196.98860413506475, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -541.4498094736255, + 194.39052792371143, + -8.32250991306843 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -542.9498094736255, + 191.79245171235812, + -8.32250991306843 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-36_859484421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-36_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc1bf0ab2a340e57556de1e00e65fb92b0746ebe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-36_859484421/pose.jsonl @@ -0,0 +1,1250 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -718.9534320228082, + 300.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -718.9534320228082, + 297.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.9534320228082, + 294.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -718.9534320228082, + 291.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -718.9534320228082, + 288.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -718.9534320228082, + 285.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -718.9534320228082, + 282.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -718.9534320228082, + 279.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -718.9534320228082, + 276.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.9534320228082, + 273.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -718.9534320228082, + 270.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -718.9534320228082, + 267.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -718.9534320228082, + 264.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -718.9534320228082, + 261.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -718.9534320228082, + 258.8861183015928, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -718.9534320228082, + 255.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -718.9534320228082, + 252.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -718.9534320228082, + 249.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -718.9534320228082, + 246.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -718.9534320228082, + 243.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -718.9534320228082, + 240.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -718.9534320228082, + 237.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -718.9534320228082, + 234.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -718.9534320228082, + 231.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -718.9534320228082, + 228.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -718.9534320228082, + 225.88611830159277, + -19.139779097226608 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.9534320228082, + 225.88611830159277, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -720.4534320228082, + 223.28804209023946, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -721.9534320228082, + 220.68996587888614, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -723.4534320228082, + 218.09188966753283, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -724.9534320228082, + 215.4938134561795, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -726.4534320228082, + 212.8957372448262, + -19.139779097226608 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.9534320228082, + 210.29766103347288, + -19.139779097226608 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-55_1914544919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-55_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..82f8ccdf0c24d8cdd6837fad00264aabfb65db09 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-55-55_1914544919/pose.jsonl @@ -0,0 +1,1393 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -552.4361647135614, + 782.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -555.0342409249147, + 781.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -557.6323171362681, + 779.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -560.2303933476214, + 778.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -562.8284695589748, + 776.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -565.4265457703282, + 775.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.0246219816815, + 773.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -570.6226981930349, + 772.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -573.2207744043883, + 770.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -575.8188506157417, + 769.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -578.416926827095, + 767.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -581.0150030384484, + 766.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -583.6130792498018, + 764.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -586.2111554611552, + 763.4769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -588.8092316725085, + 761.9769287738823, + -1.872673187702805 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -588.8092316725085, + 761.9769287738823, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -590.3092316725085, + 759.3788525625289, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -591.8092316725085, + 756.7807763511755, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -593.3092316725085, + 754.1827001398221, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -594.8092316725085, + 751.5846239284688, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -596.3092316725085, + 748.9865477171154, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -597.8092316725085, + 746.388471505762, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -599.3092316725085, + 743.7903952944087, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -600.8092316725085, + 741.1923190830553, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -602.3092316725085, + 738.5942428717019, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -603.8092316725085, + 735.9961666603485, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -605.3092316725085, + 733.3980904489952, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -606.8092316725085, + 730.8000142376418, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -608.3092316725085, + 728.2019380262884, + -1.872673187702805 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -608.3092316725085, + 728.2019380262884, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -610.9073078838619, + 726.7019380262884, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -613.5053840952153, + 725.2019380262884, + -1.872673187702805 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -616.1034603065686, + 723.7019380262884, + -1.872673187702805 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-16_1424268980/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-16_1424268980/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6047d4dae0c31f36a8e25515254e11fa00287c69 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-59-16_1424268980/pose.jsonl @@ -0,0 +1,1880 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -746.1616496151266, + 645.196026106715, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -747.6616496151266, + 642.5979498953616, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -749.1616496151266, + 639.9998736840082, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -750.6616496151266, + 637.4017974726548, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -752.1616496151266, + 634.8037212613015, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -753.6616496151266, + 632.2056450499481, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -755.1616496151266, + 629.6075688385947, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -756.6616496151266, + 627.0094926272413, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -758.1616496151266, + 624.411416415888, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -759.6616496151266, + 621.8133402045346, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.1616496151266, + 619.2152639931812, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.6616496151266, + 616.6171877818279, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -764.1616496151266, + 614.0191115704745, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.6616496151266, + 611.4210353591211, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -767.1616496151266, + 608.8229591477677, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.6616496151266, + 606.2248829364144, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -770.1616496151266, + 603.626806725061, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.6616496151266, + 601.0287305137076, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -773.1616496151266, + 598.4306543023542, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -774.6616496151266, + 595.8325780910009, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -776.1616496151266, + 593.2345018796475, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -777.6616496151266, + 590.6364256682941, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -779.1616496151266, + 588.0383494569408, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -780.6616496151266, + 585.4402732455874, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -782.1616496151266, + 582.842197034234, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.6616496151266, + 580.2441208228806, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -785.1616496151266, + 577.6460446115273, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -786.6616496151266, + 575.0479684001739, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -788.1616496151266, + 572.4498921888205, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -789.6616496151266, + 569.8518159774671, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -791.1616496151266, + 567.2537397661138, + -26.15342083280008 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -791.1616496151266, + 567.2537397661138, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -791.1616496151266, + 564.2537397661138, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -791.1616496151266, + 561.2537397661138, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -791.1616496151266, + 558.2537397661138, + -26.15342083280008 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -791.1616496151266, + 555.2537397661138, + -26.15342083280008 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-8-51_1159126505/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-8-51_1159126505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d844ddb80a7376918ad0592c83a4bacd7841236d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_14-8-51_1159126505/pose.jsonl @@ -0,0 +1,1817 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -370.97087807111035, + 714.4511556250009, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -372.47087807111035, + 711.8530794136475, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -373.97087807111035, + 709.2550032022941, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -375.47087807111035, + 706.6569269909407, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -376.97087807111035, + 704.0588507795874, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.47087807111035, + 701.460774568234, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -379.97087807111035, + 698.8626983568806, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -381.47087807111035, + 696.2646221455273, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -382.97087807111035, + 693.6665459341739, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -384.47087807111035, + 691.0684697228205, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -385.97087807111035, + 688.4703935114671, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -387.47087807111035, + 685.8723173001138, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -388.97087807111035, + 683.2742410887604, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -390.47087807111035, + 680.676164877407, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -391.97087807111035, + 678.0780886660536, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -393.47087807111035, + 675.4800124547003, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -394.97087807111035, + 672.8819362433469, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.47087807111035, + 670.2838600319935, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -397.97087807111035, + 667.6857838206402, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -399.47087807111035, + 665.0877076092868, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -400.97087807111035, + 662.4896313979334, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -402.47087807111035, + 659.89155518658, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -403.97087807111035, + 657.2934789752267, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -405.47087807111035, + 654.6954027638733, + -12.518196510850359 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -405.47087807111035, + 654.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -405.47087807111035, + 651.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -405.47087807111035, + 648.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -405.47087807111035, + 645.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -405.47087807111035, + 642.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -405.47087807111035, + 639.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -405.47087807111035, + 636.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -405.47087807111035, + 633.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -405.47087807111035, + 630.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -405.47087807111035, + 627.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -405.47087807111035, + 624.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -405.47087807111035, + 621.6954027638733, + -12.518196510850359 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -405.47087807111035, + 618.6954027638733, + -12.518196510850359 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-43_42999170/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-43_42999170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..956fdeeb5ec023ca9c2f8a1e152effa136cf4ae5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-0-43_42999170/pose.jsonl @@ -0,0 +1,1963 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -275.16321688740777, + 602.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -277.7612930987611, + 604.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -280.3593693101144, + 605.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -282.9574455214677, + 607.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -285.55552173282103, + 608.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.15359794417435, + 610.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.75167415552767, + 611.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -293.349750366881, + 613.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -295.9478265782343, + 614.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.5459027895876, + 616.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -301.14397900094093, + 617.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -303.74205521229425, + 619.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -306.34013142364756, + 620.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -308.9382076350009, + 622.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -311.5362838463542, + 623.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -314.1343600577075, + 625.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -316.7324362690608, + 626.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -319.33051248041414, + 628.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -321.92858869176746, + 629.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -324.5266649031208, + 631.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -327.1247411144741, + 632.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -329.7228173258274, + 634.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -332.3208935371807, + 635.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -334.91896974853404, + 637.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.51704595988735, + 638.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -340.11512217124067, + 640.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -342.713198382594, + 641.6192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.3112745939473, + 643.1192112353289, + -14.245474709453692 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -345.3112745939473, + 643.1192112353289, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -346.8112745939473, + 645.7172874466821, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -348.3112745939473, + 648.3153636580355, + -14.245474709453692 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -349.8112745939473, + 650.9134398693889, + -14.245474709453692 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-37_1474612399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-37_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b93bed461c49b0d1dedfb4d24638743f01bf4ca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-11-37_1474612399/pose.jsonl @@ -0,0 +1,1737 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -576.3397856099111, + 636.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -578.9378618212645, + 634.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -581.5359380326179, + 633.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -584.1340142439713, + 631.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -586.7320904553246, + 630.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -589.330166666678, + 628.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -591.9282428780314, + 627.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -594.5263190893847, + 625.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -597.1243953007381, + 624.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -599.7224715120915, + 622.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -602.3205477234449, + 621.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -604.9186239347982, + 619.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -607.5167001461516, + 618.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -610.114776357505, + 616.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -612.7128525688584, + 615.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -615.3109287802117, + 613.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -617.9090049915651, + 612.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -620.5070812029185, + 610.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -623.1051574142718, + 609.2115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.7032336256252, + 607.7115496916026, + -18.24224229449043 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -625.7032336256252, + 607.7115496916026, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -627.2032336256252, + 605.1134734802492, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -628.7032336256252, + 602.5153972688959, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -630.2032336256252, + 599.9173210575425, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -631.7032336256252, + 597.3192448461891, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -633.2032336256252, + 594.7211686348357, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -634.7032336256252, + 592.1230924234824, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -636.2032336256252, + 589.525016212129, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -637.7032336256252, + 586.9269400007756, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -639.2032336256252, + 584.3288637894223, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.7032336256252, + 581.7307875780689, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -642.2032336256252, + 579.1327113667155, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -643.7032336256252, + 576.5346351553621, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -645.2032336256252, + 573.9365589440088, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -646.7032336256252, + 571.3384827326554, + -18.24224229449043 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -648.2032336256252, + 568.740406521302, + -18.24224229449043 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-12-37_1411549676/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-12-37_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17f95023a73fc3a073e0683d9ebe5bb63118212e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-12-37_1411549676/pose.jsonl @@ -0,0 +1,1709 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -571.1546000709156, + 737.8907860530346, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -569.6546000709156, + 735.2927098416812, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -568.1546000709156, + 732.6946336303279, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -566.6546000709156, + 730.0965574189745, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -565.1546000709156, + 727.4984812076211, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -563.6546000709156, + 724.9004049962678, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -562.1546000709156, + 722.3023287849144, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -560.6546000709156, + 719.704252573561, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -559.1546000709156, + 717.1061763622076, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -557.6546000709156, + 714.5081001508543, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -556.1546000709156, + 711.9100239395009, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -554.6546000709156, + 709.3119477281475, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -553.1546000709156, + 706.7138715167941, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -551.6546000709156, + 704.1157953054408, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -550.1546000709156, + 701.5177190940874, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -548.6546000709156, + 698.919642882734, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -547.1546000709156, + 696.3215666713807, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -545.6546000709156, + 693.7234904600273, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -544.1546000709156, + 691.1254142486739, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -542.6546000709156, + 688.5273380373205, + -16.688664285849566 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -542.6546000709156, + 688.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -540.0565238595623, + 687.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.4584476482089, + 685.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -534.8603714368555, + 684.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -532.2622952255022, + 682.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -529.6642190141488, + 681.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.0661428027954, + 679.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -524.468066591442, + 678.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -521.8699903800887, + 676.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -519.2719141687353, + 675.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -516.6738379573819, + 673.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -514.0757617460285, + 672.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -511.47768553467523, + 670.5273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -508.8796093233219, + 669.0273380373205, + -16.688664285849566 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -506.2815331119686, + 667.5273380373205, + -16.688664285849566 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-1_402724286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-1_402724286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98832a68b115f9f2b6472e242072d77b62d82d45 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-20-1_402724286/pose.jsonl @@ -0,0 +1,742 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -126.28338081436175, + 496.9366471244103, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -124.78338081436175, + 499.5347233357636, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -123.28338081436175, + 502.1327995471169, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -121.78338081436175, + 504.73087575847023, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -120.28338081436175, + 507.32895196982355, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -118.78338081436175, + 509.92702818117687, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -117.28338081436175, + 512.5251043925302, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -115.78338081436175, + 515.1231806038836, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -114.28338081436175, + 517.721256815237, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -112.78338081436175, + 520.3193330265904, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.28338081436175, + 522.9174092379437, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -109.78338081436175, + 525.5154854492971, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -108.28338081436175, + 528.1135616606505, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -106.78338081436175, + 530.7116378720038, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -105.28338081436175, + 533.3097140833572, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -103.78338081436175, + 535.9077902947106, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.28338081436175, + 538.505866506064, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -100.78338081436175, + 541.1039427174173, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -99.28338081436175, + 543.7020189287707, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -97.78338081436175, + 546.3000951401241, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -96.28338081436175, + 548.8981713514775, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -94.78338081436175, + 551.4962475628308, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -93.28338081436175, + 554.0943237741842, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -91.78338081436175, + 556.6923999855376, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -90.28338081436175, + 559.290476196891, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -88.78338081436175, + 561.8885524082443, + -1.7022350749999262 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -87.28338081436175, + 564.4866286195977, + -1.7022350749999262 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-21-41_1947346619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-21-41_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff79e8c7551bdf35d82875b3388de783ccdd6769 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-21-41_1947346619/pose.jsonl @@ -0,0 +1,798 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 72.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 66.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 63.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 60.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 57.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 54.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 51.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 48.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 42.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 39.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 36.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 30.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 24.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 18.16072562855946, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 15.160725628559462, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.160725628559462, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 9.160725628559462, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 6.160725628559462, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 3.1607256285594616, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.1607256285594616, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -2.8392743714405384, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -5.839274371440538, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.839274371440538, + 506.712202787119, + -25.98113486472508 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -11.839274371440538, + 506.712202787119, + -25.98113486472508 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-28-45_160051528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-28-45_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ac51bd4cf2f03ead7603b246193bf16656b2bc59 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-28-45_160051528/pose.jsonl @@ -0,0 +1,1609 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 20.320725192124417, + 157.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 20.320725192124417, + 160.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 20.320725192124417, + 163.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.320725192124417, + 166.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 20.320725192124417, + 169.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 20.320725192124417, + 172.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 20.320725192124417, + 175.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 20.320725192124417, + 178.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 20.320725192124417, + 181.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 20.320725192124417, + 184.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 20.320725192124417, + 187.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 20.320725192124417, + 190.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 20.320725192124417, + 193.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 20.320725192124417, + 196.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 20.320725192124417, + 199.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 20.320725192124417, + 202.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 20.320725192124417, + 205.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.320725192124417, + 208.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 20.320725192124417, + 211.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 20.320725192124417, + 214.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 20.320725192124417, + 217.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 20.320725192124417, + 220.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 20.320725192124417, + 223.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 20.320725192124417, + 226.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.320725192124417, + 229.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 20.320725192124417, + 232.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 20.320725192124417, + 235.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 20.320725192124417, + 238.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 20.320725192124417, + 241.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 20.320725192124417, + 244.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 20.320725192124417, + 247.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 20.320725192124417, + 250.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 20.320725192124417, + 253.7942535095398, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 20.320725192124417, + 256.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 20.320725192124417, + 259.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 20.320725192124417, + 262.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 20.320725192124417, + 265.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 20.320725192124417, + 268.79425350953977, + -22.869820987750963 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 20.320725192124417, + 268.79425350953977, + -22.869820987750963 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 20.320725192124417, + 268.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 17.7226489807711, + 270.29425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + 15.124572769417785, + 271.79425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + 12.52649655806447, + 273.29425350953977, + -22.869820987750963 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + 9.928420346711153, + 274.79425350953977, + -22.869820987750963 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-31-12_1573363368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-31-12_1573363368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd37fa701cdc62d27894e9cf8b01f2876698e3c5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-31-12_1573363368/pose.jsonl @@ -0,0 +1,1305 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -186.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -192.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -195.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -198.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -201.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -204.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -207.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -210.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -219.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -222.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -225.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -228.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -231.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -234.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -237.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -240.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -240.2166425278601, + 637.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -242.81471873921342, + 638.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.41279495056673, + 640.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -248.01087116192005, + 641.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -250.60894737327337, + 643.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -253.20702358462668, + 644.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -255.80509979598, + 646.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -258.4031760073333, + 647.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914895 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -261.0012522186866, + 649.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -263.5993284300399, + 650.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -266.19740464139323, + 652.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -268.79548085274655, + 653.9746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -271.39355706409987, + 655.4746550263237, + -14.964456995700909 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -271.39355706409987, + 655.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -274.39355706409987, + 655.4746550263237, + -14.964456995700909 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -277.39355706409987, + 655.4746550263237, + -14.964456995700909 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-52_168002245/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-52_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..61f0f9a352583b004595941dcac96c4fe3a3beb6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-33-52_168002245/pose.jsonl @@ -0,0 +1,1770 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -16.326283256171408, + 236.41627074574066, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -14.826283256171408, + 239.01434695709398, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -13.326283256171408, + 241.6124231684473, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -11.826283256171408, + 244.2104993798006, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -10.326283256171408, + 246.80857559115393, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -8.826283256171408, + 249.40665180250724, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -7.326283256171408, + 252.00472801386056, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -5.826283256171408, + 254.60280422521387, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.326283256171408, + 257.2008804365672, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966025 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -2.8262832561714073, + 259.79895664792053, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -1.3262832561714069, + 262.39703285927385, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 0.1737167438285936, + 264.99510907062717, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 1.673716743828594, + 267.5931852819805, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 3.1737167438285945, + 270.1912614933338, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 4.673716743828595, + 272.7893377046871, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 6.173716743828596, + 275.38741391604043, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 7.673716743828596, + 277.98549012739375, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.173716743828596, + 280.58356633874706, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.673716743828596, + 283.1816425501004, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 12.173716743828596, + 285.7797187614537, + -5.5367664807811 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 12.173716743828596, + 285.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 14.771792955181912, + 287.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.369869166535228, + 288.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 19.967945377888544, + 290.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 22.56602158924186, + 291.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 25.164097800595176, + 293.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 27.762174011948492, + 294.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 30.360250223301808, + 296.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 32.95832643465512, + 297.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 35.556402646008436, + 299.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 38.15447885736175, + 300.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 40.75255506871507, + 302.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 43.350631280068384, + 303.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 45.9487074914217, + 305.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 48.546783702775016, + 306.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 51.14485991412833, + 308.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 53.74293612548165, + 309.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 56.341012336834964, + 311.2797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 58.93908854818828, + 312.7797187614537, + -5.5367664807811 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 61.5371647595416, + 314.2797187614537, + -5.5367664807811 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-41-48_1760281936/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-41-48_1760281936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c97a39b1052df23069f5aa9734808fa0736d610 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-41-48_1760281936/pose.jsonl @@ -0,0 +1,1442 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -226.80613713177218, + 400.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -229.4042133431255, + 401.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.0022895544788, + 403.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -234.60036576583212, + 404.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.19844197718544, + 406.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -239.79651818853876, + 407.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -242.39459439989207, + 409.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -244.9926706112454, + 410.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -247.5907468225987, + 412.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -250.18882303395202, + 413.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -252.78689924530534, + 415.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -255.38497545665865, + 416.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -257.98305166801197, + 418.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -260.5811278793653, + 419.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -263.1792040907186, + 421.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -265.7772803020719, + 422.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -268.37535651342523, + 424.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -270.97343272477855, + 425.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.57150893613186, + 427.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -276.1695851474852, + 428.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -278.7676613588385, + 430.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.3657375701918, + 431.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -283.9638137815451, + 433.32016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -286.56188999289844, + 434.82016912879754, + -6.771404091394679 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -286.56188999289844, + 434.82016912879754, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -288.06188999289844, + 437.41824534015086, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -289.56188999289844, + 440.0163215515042, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -291.06188999289844, + 442.6143977628575, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -292.56188999289844, + 445.2124739742108, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -294.06188999289844, + 447.8105501855641, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -295.56188999289844, + 450.40862639691744, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -297.06188999289844, + 453.00670260827076, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -298.56188999289844, + 455.6047788196241, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -300.06188999289844, + 458.2028550309774, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -301.56188999289844, + 460.8009312423307, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -303.06188999289844, + 463.399007453684, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -304.56188999289844, + 465.99708366503734, + -6.771404091394679 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -306.06188999289844, + 468.59515987639065, + -6.771404091394679 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-27_1476153275/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-27_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f78c0b538f867468287f7aa994eeaa5c290d79f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-27_1476153275/pose.jsonl @@ -0,0 +1,1404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -570.0421835914037, + 347.2445930652899, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -568.5421835914037, + 344.6465168539366, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -567.0421835914037, + 342.0484406425833, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -565.5421835914037, + 339.45036443122996, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -564.0421835914037, + 336.85228821987664, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -562.5421835914037, + 334.2542120085233, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -561.0421835914037, + 331.65613579717, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -559.5421835914037, + 329.0580595858167, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -558.0421835914037, + 326.4599833744634, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -556.5421835914037, + 323.86190716311006, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -555.0421835914037, + 321.26383095175674, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -553.5421835914037, + 318.66575474040343, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -552.0421835914037, + 316.0676785290501, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -550.5421835914037, + 313.4696023176968, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -549.0421835914037, + 310.8715261063435, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -547.5421835914037, + 308.27344989499016, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -546.0421835914037, + 305.67537368363685, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -544.5421835914037, + 303.07729747228353, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -543.0421835914037, + 300.4792212609302, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -541.5421835914037, + 297.8811450495769, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -540.0421835914037, + 295.2830688382236, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -538.5421835914037, + 292.68499262687027, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.0421835914037, + 290.08691641551695, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -535.5421835914037, + 287.48884020416364, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -534.0421835914037, + 284.8907639928103, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -532.5421835914037, + 282.292687781457, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -531.0421835914037, + 279.6946115701037, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -529.5421835914037, + 277.0965353587504, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -528.0421835914037, + 274.49845914739706, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -526.5421835914037, + 271.90038293604374, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -525.0421835914037, + 269.3023067246904, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -523.5421835914037, + 266.7042305133371, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -522.0421835914037, + 264.1061543019838, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -520.5421835914037, + 261.5080780906305, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -519.0421835914037, + 258.91000187927716, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -517.5421835914037, + 256.31192566792384, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -516.0421835914037, + 253.71384945657053, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -514.5421835914037, + 251.1157732452172, + -11.477041644219959 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -513.0421835914037, + 248.5176970338639, + -11.477041644219959 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-8_971899228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-8_971899228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b2354fe65682e9da466e7bb4c0ae04bc0b7fcc8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-43-8_971899228/pose.jsonl @@ -0,0 +1,1341 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -37.471346547706446, + 607.2106474950969, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -35.971346547706446, + 604.6125712837436, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -34.471346547706446, + 602.0144950723902, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -32.971346547706446, + 599.4164188610368, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -31.471346547706446, + 596.8183426496835, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -29.971346547706446, + 594.2202664383301, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -28.471346547706446, + 591.6221902269767, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -26.971346547706446, + 589.0241140156234, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -25.471346547706446, + 586.42603780427, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -23.971346547706446, + 583.8279615929166, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -22.471346547706446, + 581.2298853815632, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -20.971346547706446, + 578.6318091702099, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -19.471346547706446, + 576.0337329588565, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -17.971346547706446, + 573.4356567475031, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -16.471346547706446, + 570.8375805361497, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -14.971346547706446, + 568.2395043247964, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -13.471346547706446, + 565.641428113443, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -11.971346547706446, + 563.0433519020896, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -10.471346547706446, + 560.4452756907363, + -26.119473096385 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -10.471346547706446, + 560.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -10.471346547706446, + 557.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -10.471346547706446, + 554.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -10.471346547706446, + 551.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -10.471346547706446, + 548.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -10.471346547706446, + 545.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -10.471346547706446, + 542.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -10.471346547706446, + 539.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -10.471346547706446, + 536.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -10.471346547706446, + 533.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -10.471346547706446, + 530.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -10.471346547706446, + 527.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -10.471346547706446, + 524.4452756907363, + -26.119473096385 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -10.471346547706446, + 521.4452756907363, + -26.119473096385 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-26_1626276121/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-26_1626276121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cf873dcda971c41bf98f059e5930f4aa4638daf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-44-26_1626276121/pose.jsonl @@ -0,0 +1,1604 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -564.9543417358656, + 127.70761657334012, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -566.4543417358656, + 130.30569278469343, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -567.9543417358656, + 132.90376899604675, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -569.4543417358656, + 135.50184520740007, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -570.9543417358656, + 138.09992141875338, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -572.4543417358656, + 140.6979976301067, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -573.9543417358656, + 143.29607384146001, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -575.4543417358656, + 145.89415005281333, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -576.9543417358656, + 148.49222626416665, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -578.4543417358656, + 151.09030247551996, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -579.9543417358656, + 153.68837868687328, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -581.4543417358656, + 156.2864548982266, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -582.9543417358656, + 158.8845311095799, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -584.4543417358656, + 161.48260732093323, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -585.9543417358656, + 164.08068353228654, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -587.4543417358656, + 166.67875974363986, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -588.9543417358656, + 169.27683595499317, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -590.4543417358656, + 171.8749121663465, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -591.9543417358656, + 174.4729883776998, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -593.4543417358656, + 177.07106458905312, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -594.9543417358656, + 179.66914080040644, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -596.4543417358656, + 182.26721701175975, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -597.9543417358656, + 184.86529322311307, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -599.4543417358656, + 187.4633694344664, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -600.9543417358656, + 190.0614456458197, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -602.4543417358656, + 192.65952185717302, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -603.9543417358656, + 195.25759806852633, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -605.4543417358656, + 197.85567427987965, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -606.9543417358656, + 200.45375049123297, + -2.083207108643901 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -606.9543417358656, + 200.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -606.9543417358656, + 203.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -606.9543417358656, + 206.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -606.9543417358656, + 209.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -606.9543417358656, + 212.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -606.9543417358656, + 215.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -606.9543417358656, + 218.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -606.9543417358656, + 221.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -606.9543417358656, + 224.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -606.9543417358656, + 227.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -606.9543417358656, + 230.45375049123297, + -2.083207108643901 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -606.9543417358656, + 233.45375049123297, + -2.083207108643901 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-48-46_2103318776/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-48-46_2103318776/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92a534e3674abdebb73a8936ac203116b10dbcc6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-48-46_2103318776/pose.jsonl @@ -0,0 +1,1493 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -729.7111058493862, + 568.5151872253093, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -731.2111058493862, + 565.917111013956, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.7111058493862, + 563.3190348026026, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -734.2111058493862, + 560.7209585912492, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -735.7111058493862, + 558.1228823798958, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -737.2111058493862, + 555.5248061685425, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -738.7111058493862, + 552.9267299571891, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -740.2111058493862, + 550.3286537458357, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -741.7111058493862, + 547.7305775344823, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -743.2111058493862, + 545.132501323129, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -744.7111058493862, + 542.5344251117756, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -746.2111058493862, + 539.9363489004222, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -747.7111058493862, + 537.3382726890688, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -749.2111058493862, + 534.7401964777155, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -750.7111058493862, + 532.1421202663621, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.2111058493862, + 529.5440440550087, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -753.7111058493862, + 526.9459678436554, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -755.2111058493862, + 524.347891632302, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -756.7111058493862, + 521.7498154209486, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.2111058493862, + 519.1517392095952, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -759.7111058493862, + 516.5536629982419, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -761.2111058493862, + 513.9555867868885, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -762.7111058493862, + 511.3575105755352, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -764.2111058493862, + 508.75943436418186, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.7111058493862, + 506.16135815282854, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -767.2111058493862, + 503.5632819414752, + -2.3089010842782756 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -767.2111058493862, + 503.5632819414752, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -769.8091820607394, + 502.0632819414752, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -772.4072582720928, + 500.5632819414752, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -775.0053344834462, + 499.0632819414752, + -2.3089010842782756 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -777.6034106947995, + 497.5632819414752, + -2.3089010842782756 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-52-4_1395235128/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-52-4_1395235128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d75b4b7dadeddc74448a3053794a19fc92da201f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-52-4_1395235128/pose.jsonl @@ -0,0 +1,1273 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 251.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 248.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 245.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 242.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 239.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 236.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 233.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + 227.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 224.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 221.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 218.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 215.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 212.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 209.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 206.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 203.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 200.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 197.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 194.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 191.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 188.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 185.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 182.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 179.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 176.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 173.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 170.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 167.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 164.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 161.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 158.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 155.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 152.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 149.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 149.91489960971148, + 249.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 147.31682339835817, + 250.79132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 144.71874718700485, + 252.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 142.12067097565154, + 253.79132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 139.52259476429822, + 255.29132524106646, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 136.9245185529449, + 256.79132524106643, + -7.556426300352442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + 134.3264423415916, + 258.29132524106643, + -7.556426300352442 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-7_492067917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-7_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f631e22f0abfa64aec2990406e79b6362c7af71 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-53-7_492067917/pose.jsonl @@ -0,0 +1,1201 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 223.43605320790076, + 147.993464622224, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 221.93605320790076, + 150.5915408335773, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 220.43605320790076, + 153.18961704493063, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 218.93605320790076, + 155.78769325628394, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 217.43605320790076, + 158.38576946763726, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 215.93605320790076, + 160.98384567899058, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 214.43605320790076, + 163.5819218903439, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 212.93605320790076, + 166.1799981016972, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 211.43605320790076, + 168.77807431305052, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 209.93605320790076, + 171.37615052440384, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.43605320790076, + 173.97422673575716, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 206.93605320790076, + 176.57230294711047, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 205.43605320790076, + 179.1703791584638, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 203.93605320790076, + 181.7684553698171, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 202.43605320790076, + 184.36653158117042, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.93605320790076, + 186.96460779252374, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 199.43605320790076, + 189.56268400387705, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 197.93605320790076, + 192.16076021523037, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 196.43605320790076, + 194.75883642658368, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 194.93605320790076, + 197.356912637937, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 193.43605320790076, + 199.95498884929032, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 191.93605320790076, + 202.55306506064363, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 190.43605320790076, + 205.15114127199695, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 188.93605320790076, + 207.74921748335026, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 187.43605320790076, + 210.34729369470358, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 185.93605320790076, + 212.9453699060569, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 184.43605320790076, + 215.5434461174102, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 182.93605320790076, + 218.14152232876353, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 181.43605320790076, + 220.73959854011684, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 179.93605320790076, + 223.33767475147016, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 178.43605320790076, + 225.93575096282348, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 176.93605320790076, + 228.5338271741768, + -10.990202584314105 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 176.93605320790076, + 228.5338271741768, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 176.93605320790076, + 231.5338271741768, + -10.990202584314105 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 176.93605320790076, + 234.5338271741768, + -10.990202584314105 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-59-10_968338082/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-59-10_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6641a23936170d6b929379cd35bc0e0b99733597 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_15-59-10_968338082/pose.jsonl @@ -0,0 +1,1469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -647.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -650.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -653.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -656.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -659.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -662.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -665.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -668.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -671.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -680.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -683.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -686.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -689.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -695.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -698.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -701.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -704.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -707.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -716.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -719.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -722.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -725.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -728.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -731.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -737.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -740.7112162679995, + 474.9889655936313, + -16.675875168933597 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-1-11_1285228804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-1-11_1285228804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8aa6d8e2752c909bfaccc8174e8536dafabe910 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-1-11_1285228804/pose.jsonl @@ -0,0 +1,1930 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -406.92063331131, + 680.8178823621512, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -408.42063331131, + 678.2198061507979, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -409.92063331131, + 675.6217299394445, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -411.42063331131, + 673.0236537280912, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -412.92063331131, + 670.4255775167378, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -414.42063331131, + 667.8275013053844, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -415.92063331131, + 665.2294250940311, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -417.42063331131, + 662.6313488826777, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -418.92063331131, + 660.0332726713243, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -420.42063331131, + 657.4351964599709, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -421.92063331131, + 654.8371202486176, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -423.42063331131, + 652.2390440372642, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -424.92063331131, + 649.6409678259108, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -426.42063331131, + 647.0428916145574, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -427.92063331131, + 644.4448154032041, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -429.42063331131, + 641.8467391918507, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -430.92063331131, + 639.2486629804973, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -432.42063331131, + 636.650586769144, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -433.92063331131, + 634.0525105577906, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -435.42063331131, + 631.4544343464372, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -436.92063331131, + 628.8563581350838, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -438.42063331131, + 626.2582819237305, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -439.92063331131, + 623.6602057123771, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -441.42063331131, + 621.0621295010237, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -442.92063331131, + 618.4640532896703, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -444.42063331131, + 615.865977078317, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -445.92063331131, + 613.2679008669636, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -447.42063331131, + 610.6698246556102, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -448.92063331131, + 608.0717484442569, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -450.42063331131, + 605.4736722329035, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -451.92063331131, + 602.8755960215501, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -453.42063331131, + 600.2775198101967, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -454.92063331131, + 597.6794435988434, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -456.42063331131, + 595.08136738749, + -23.810266409591357 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -457.92063331131, + 592.4832911761366, + -23.810266409591357 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-16-3_7684930/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-16-3_7684930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3c023fad49dfcef2451aea5653c9fb83ebb63a5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-16-3_7684930/pose.jsonl @@ -0,0 +1,1324 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -493.3035563299011, + 399.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -493.3035563299011, + 402.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -493.3035563299011, + 405.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -493.3035563299011, + 408.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -493.3035563299011, + 411.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -493.3035563299011, + 414.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -493.3035563299011, + 417.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -493.3035563299011, + 420.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -493.3035563299011, + 423.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -493.3035563299011, + 426.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -493.3035563299011, + 429.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -493.3035563299011, + 432.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -493.3035563299011, + 435.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.3035563299011, + 438.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -493.3035563299011, + 441.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -493.3035563299011, + 444.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -493.3035563299011, + 447.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -493.3035563299011, + 450.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -493.3035563299011, + 453.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -493.3035563299011, + 456.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -493.3035563299011, + 459.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -493.3035563299011, + 462.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -493.3035563299011, + 465.839909306002, + -17.392901296635692 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -493.3035563299011, + 465.839909306002, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -491.8035563299011, + 468.43798551735534, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -490.3035563299011, + 471.03606172870866, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -488.8035563299011, + 473.634137940062, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -487.3035563299011, + 476.2322141514153, + -17.392901296635692 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -487.3035563299011, + 476.2322141514153, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -484.70548011854777, + 477.7322141514153, + -17.392901296635692 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -482.10740390719445, + 479.2322141514153, + -17.392901296635692 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-22-39_1943327684/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-22-39_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d3dbf63e3371c2ed829bfffd745abc87f80b5c4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-22-39_1943327684/pose.jsonl @@ -0,0 +1,1388 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -855.0678091854651, + 415.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -855.0678091854651, + 418.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -855.0678091854651, + 421.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -855.0678091854651, + 424.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -855.0678091854651, + 427.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -855.0678091854651, + 430.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -855.0678091854651, + 433.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -855.0678091854651, + 436.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -855.0678091854651, + 439.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -855.0678091854651, + 442.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -855.0678091854651, + 445.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -855.0678091854651, + 448.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -855.0678091854651, + 451.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -855.0678091854651, + 454.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -855.0678091854651, + 457.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -855.0678091854651, + 460.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -855.0678091854651, + 463.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -855.0678091854651, + 466.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -855.0678091854651, + 469.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -855.0678091854651, + 472.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -855.0678091854651, + 475.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -855.0678091854651, + 478.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -855.0678091854651, + 481.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -855.0678091854651, + 484.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -855.0678091854651, + 487.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -855.0678091854651, + 490.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -855.0678091854651, + 493.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -855.0678091854651, + 496.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -855.0678091854651, + 499.52322364054396, + -13.87842110956684 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -855.0678091854651, + 499.52322364054396, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -856.5678091854651, + 502.1212998518973, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -858.0678091854651, + 504.7193760632506, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -859.5678091854651, + 507.3174522746039, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -861.0678091854651, + 509.9155284859572, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -862.5678091854651, + 512.5136046973105, + -13.87842110956684 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -862.5678091854651, + 512.5136046973105, + -13.87842110956684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949063 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -862.5678091854651, + 515.5136046973105, + -13.87842110956684 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-3-55_392035568/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-3-55_392035568/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46aa37b8ff8e08954d6a5fc82b27e95217694ebd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-3-55_392035568/pose.jsonl @@ -0,0 +1,1698 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -531.4380649918129, + 513.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -531.4380649918129, + 516.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -531.4380649918129, + 519.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -531.4380649918129, + 522.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -531.4380649918129, + 525.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -531.4380649918129, + 528.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -531.4380649918129, + 531.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -531.4380649918129, + 534.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -531.4380649918129, + 537.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -531.4380649918129, + 540.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -531.4380649918129, + 543.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -531.4380649918129, + 546.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -531.4380649918129, + 549.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -531.4380649918129, + 552.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -531.4380649918129, + 555.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -531.4380649918129, + 558.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -531.4380649918129, + 561.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -531.4380649918129, + 564.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -531.4380649918129, + 567.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -531.4380649918129, + 570.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -531.4380649918129, + 573.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -531.4380649918129, + 576.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -531.4380649918129, + 579.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -531.4380649918129, + 582.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -531.4380649918129, + 585.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -531.4380649918129, + 588.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -531.4380649918129, + 591.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -531.4380649918129, + 594.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -531.4380649918129, + 597.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -531.4380649918129, + 600.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -531.4380649918129, + 603.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -531.4380649918129, + 606.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -531.4380649918129, + 609.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -531.4380649918129, + 612.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -531.4380649918129, + 615.8944789163847, + -15.721155680794531 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -531.4380649918129, + 618.8944789163847, + -15.721155680794531 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-30-16_476667372/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-30-16_476667372/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a16ee71452ed00620eb5b89196368799cf3cf9c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-30-16_476667372/pose.jsonl @@ -0,0 +1,952 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -89.53043638220264, + 132.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -92.12851259355595, + 133.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -94.72658880490927, + 135.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -97.32466501626259, + 136.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.9227412276159, + 138.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.52081743896922, + 139.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.11889365032253, + 141.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -107.71696986167585, + 142.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -110.31504607302917, + 144.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -112.91312228438248, + 145.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -115.5111984957358, + 147.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -118.10927470708911, + 148.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -120.70735091844243, + 150.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -123.30542712979575, + 151.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -125.90350334114906, + 153.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -128.5015795525024, + 154.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -131.0996557638557, + 156.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -133.69773197520902, + 157.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -136.29580818656234, + 159.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.89388439791566, + 160.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -141.49196060926897, + 162.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -144.0900368206223, + 163.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.6881130319756, + 165.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -149.28618924332892, + 166.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -151.88426545468224, + 168.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -154.48234166603555, + 169.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -157.08041787738887, + 171.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -159.67849408874218, + 172.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -162.2765703000955, + 174.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -164.87464651144882, + 175.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -167.47272272280213, + 177.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -170.07079893415545, + 178.68975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -172.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -172.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -175.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -178.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -181.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -184.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -187.66887514550876, + 180.18975581234307, + -13.494629846011577 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-35-49_555996658/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-35-49_555996658/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9d05705b8b1feb69156b7b34384ca903b3206b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-35-49_555996658/pose.jsonl @@ -0,0 +1,448 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 74.0414998971246, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 71.0414998971246, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 68.0414998971246, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 65.0414998971246, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 62.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 59.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 56.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 53.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + 50.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + 47.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + 44.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + 41.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + 38.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + 35.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + 32.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + 29.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + 26.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + 23.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + 20.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + 17.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 11.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 5.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 2.041499897124595, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -0.958500102875405, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -3.958500102875405, + 520.6724729164957, + -12.109655802703141 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -6.958500102875405, + 520.6724729164957, + -12.109655802703141 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.75577020645142, + 568.0404148101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-47_1411154259/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-47_1411154259/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb11c8cf06d9aa671d43711126a666262159f6dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_16-53-47_1411154259/pose.jsonl @@ -0,0 +1,2131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -826.8183918976258, + 461.3320111060792, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -825.3183918976258, + 463.93008731743254, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -823.8183918976258, + 466.52816352878585, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -822.3183918976258, + 469.12623974013917, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -820.8183918976258, + 471.7243159514925, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -819.3183918976258, + 474.3223921628458, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -817.8183918976258, + 476.9204683741991, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -816.3183918976258, + 479.51854458555243, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -814.8183918976258, + 482.11662079690575, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -813.3183918976258, + 484.71469700825907, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -811.8183918976258, + 487.3127732196124, + -3.075215861679432 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -811.8183918976258, + 487.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -809.2203156862724, + 488.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -806.6222394749191, + 490.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -804.0241632635657, + 491.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -801.4260870522123, + 493.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -798.828010840859, + 494.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -796.2299346295056, + 496.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -793.6318584181522, + 497.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -791.0337822067988, + 499.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -788.4357059954455, + 500.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -785.8376297840921, + 502.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -783.2395535727387, + 503.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -780.6414773613853, + 505.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.043401150032, + 506.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -775.4453249386786, + 508.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -772.8472487273252, + 509.8127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -770.2491725159718, + 511.3127732196124, + -3.075215861679432 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -770.2491725159718, + 511.3127732196124, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -768.7491725159718, + 513.9108494309658, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -767.2491725159718, + 516.5089256423191, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -765.7491725159718, + 519.1070018536725, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -764.2491725159718, + 521.7050780650259, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -762.7491725159718, + 524.3031542763792, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -761.2491725159718, + 526.9012304877326, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -759.7491725159718, + 529.499306699086, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -758.2491725159718, + 532.0973829104394, + -3.075215861679432 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -756.7491725159718, + 534.6954591217927, + -3.075215861679432 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-28_1714636915/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-28_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..893568556f6c4d22f167e15fce2a18838ab70e63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-11-28_1714636915/pose.jsonl @@ -0,0 +1,1584 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -485.60998326086667, + 364.91235153016925, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -487.10998326086667, + 367.51042774152256, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -488.60998326086667, + 370.1085039528759, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -490.10998326086667, + 372.7065801642292, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -491.60998326086667, + 375.3046563755825, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -493.10998326086667, + 377.9027325869358, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -494.60998326086667, + 380.50080879828914, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -496.10998326086667, + 383.09888500964246, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -497.60998326086667, + 385.6969612209958, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -499.10998326086667, + 388.2950374323491, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -500.60998326086667, + 390.8931136437024, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -502.10998326086667, + 393.4911898550557, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -503.60998326086667, + 396.08926606640904, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -505.10998326086667, + 398.68734227776235, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -506.60998326086667, + 401.28541848911567, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -508.10998326086667, + 403.883494700469, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -509.60998326086667, + 406.4815709118223, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -511.10998326086667, + 409.0796471231756, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -512.6099832608667, + 411.67772333452893, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -514.1099832608667, + 414.27579954588225, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -515.6099832608667, + 416.87387575723557, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -517.1099832608667, + 419.4719519685889, + -7.984274878985339 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -517.1099832608667, + 419.4719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -519.7080594722199, + 420.9719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -522.3061356835733, + 422.4719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -524.9042118949267, + 423.9719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -527.50228810628, + 425.4719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -530.1003643176334, + 426.9719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -532.6984405289868, + 428.4719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -535.2965167403402, + 429.9719519685889, + -7.984274878985339 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -537.8945929516935, + 431.4719519685889, + -7.984274878985339 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-24-49_859484421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-24-49_859484421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b975cf977bf238345004ce6056389a70547be50d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-24-49_859484421/pose.jsonl @@ -0,0 +1,1612 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -755.5086103764775, + 254.06740696986873, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -754.0086103764775, + 251.4693307585154, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -752.5086103764775, + 248.8712545471621, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -751.0086103764775, + 246.27317833580878, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -749.5086103764775, + 243.67510212445546, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.0086103764775, + 241.07702591310215, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -746.5086103764775, + 238.47894970174883, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.0086103764775, + 235.88087349039552, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -743.5086103764775, + 233.2827972790422, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -742.0086103764775, + 230.68472106768888, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -740.5086103764775, + 228.08664485633557, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -739.0086103764775, + 225.48856864498225, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.5086103764775, + 222.89049243362894, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.0086103764775, + 220.29241622227562, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -734.5086103764775, + 217.6943400109223, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -733.0086103764775, + 215.096263799569, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -731.5086103764775, + 212.49818758821567, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.0086103764775, + 209.90011137686236, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -728.5086103764775, + 207.30203516550904, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.0086103764775, + 204.70395895415572, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -725.5086103764775, + 202.1058827428024, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -724.0086103764775, + 199.5078065314491, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -722.5086103764775, + 196.90973032009578, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -721.0086103764775, + 194.31165410874246, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -719.5086103764775, + 191.71357789738914, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -718.0086103764775, + 189.11550168603583, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -716.5086103764775, + 186.5174254746825, + -18.60772773876095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -716.5086103764775, + 186.5174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -713.9105341651241, + 185.0174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -711.3124579537707, + 183.5174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -708.7143817424173, + 182.0174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.116305531064, + 180.5174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.5182293197106, + 179.0174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.9201531083572, + 177.5174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -698.3220768970039, + 176.0174254746825, + -18.60772773876095 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -698.3220768970039, + 176.0174254746825, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -696.8220768970039, + 173.4193492633292, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -695.3220768970039, + 170.82127305197588, + -18.60772773876095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -693.8220768970039, + 168.22319684062256, + -18.60772773876095 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-25-32_608413784/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-25-32_608413784/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..417e4787578e4ca532260d6ebab3ccbf1557a993 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-25-32_608413784/pose.jsonl @@ -0,0 +1,1806 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -568.9721926669397, + 404.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -568.9721926669397, + 407.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -568.9721926669397, + 410.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -568.9721926669397, + 413.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -568.9721926669397, + 416.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -568.9721926669397, + 419.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.9721926669397, + 422.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -568.9721926669397, + 425.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -568.9721926669397, + 428.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -568.9721926669397, + 431.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -568.9721926669397, + 434.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -568.9721926669397, + 437.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -568.9721926669397, + 440.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -568.9721926669397, + 443.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -568.9721926669397, + 446.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -568.9721926669397, + 449.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -568.9721926669397, + 452.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -568.9721926669397, + 455.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -568.9721926669397, + 458.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -568.9721926669397, + 461.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -568.9721926669397, + 464.45311749618565, + -13.754247247992275 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -568.9721926669397, + 464.45311749618565, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -567.4721926669397, + 467.05119370753897, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -565.9721926669397, + 469.6492699188923, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -564.4721926669397, + 472.2473461302456, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -562.9721926669397, + 474.8454223415989, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -561.4721926669397, + 477.44349855295224, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -559.9721926669397, + 480.04157476430555, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -558.4721926669397, + 482.63965097565887, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -556.9721926669397, + 485.2377271870122, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -555.4721926669397, + 487.8358033983655, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -553.9721926669397, + 490.4338796097188, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -552.4721926669397, + 493.03195582107213, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -550.9721926669397, + 495.63003203242545, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -549.4721926669397, + 498.22810824377876, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -547.9721926669397, + 500.8261844551321, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -546.4721926669397, + 503.4242606664854, + -13.754247247992275 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -544.9721926669397, + 506.0223368778387, + -13.754247247992275 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-34_945117276/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-34_945117276/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb7a12ededf9972cc61bc4c913edb5c0d93af257 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-38-34_945117276/pose.jsonl @@ -0,0 +1,1579 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -738.1178615795693, + 284.5293956610584, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.6178615795693, + 281.9313194497051, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -735.1178615795693, + 279.33324323835177, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -733.6178615795693, + 276.73516702699845, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.1178615795693, + 274.13709081564514, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -730.6178615795693, + 271.5390146042918, + -8.496421537588617 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -730.6178615795693, + 271.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -728.0197853682159, + 270.0390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -725.4217091568626, + 268.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -722.8236329455092, + 267.0390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -720.2255567341558, + 265.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -717.6274805228024, + 264.0390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -715.0294043114491, + 262.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -712.4313281000957, + 261.0390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -709.8332518887423, + 259.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -707.235175677389, + 258.0390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -704.6370994660356, + 256.5390146042918, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -702.0390232546822, + 255.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.4409470433288, + 253.53901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -696.8428708319755, + 252.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.2447946206221, + 250.53901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -691.6467184092687, + 249.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -689.0486421979153, + 247.53901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -686.450565986562, + 246.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -683.8524897752086, + 244.53901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -681.2544135638552, + 243.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -678.6563373525019, + 241.53901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -676.0582611411485, + 240.03901460429182, + -8.496421537588617 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -676.0582611411485, + 240.03901460429182, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -674.5582611411485, + 237.4409383929385, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -673.0582611411485, + 234.8428621815852, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -671.5582611411485, + 232.24478597023187, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.0582611411485, + 229.64670975887856, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -668.5582611411485, + 227.04863354752524, + -8.496421537588617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -667.0582611411485, + 224.45055733617193, + -8.496421537588617 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-47-11_927612902/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-47-11_927612902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e87781c7ba39cd3c2c4f8c75f0308657c52ea3ac --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-47-11_927612902/pose.jsonl @@ -0,0 +1,1206 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -670.5516918636135, + 737.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -673.1497680749669, + 735.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -675.7478442863203, + 734.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.3459204976737, + 732.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.943996709027, + 731.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -683.5420729203804, + 729.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -686.1401491317338, + 728.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.7382253430872, + 726.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -691.3363015544405, + 725.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -693.9343777657939, + 723.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -696.5324539771473, + 722.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -699.1305301885006, + 720.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -701.728606399854, + 719.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -704.3266826112074, + 717.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.9247588225608, + 716.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.5228350339141, + 714.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -712.1209112452675, + 713.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -714.7189874566209, + 711.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -717.3170636679743, + 710.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.9151398793276, + 708.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.513216090681, + 707.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -725.1112923020344, + 705.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -727.7093685133877, + 704.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.3074447247411, + 702.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.9055209360945, + 701.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -735.5035971474479, + 699.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -738.1016733588012, + 698.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -740.6997495701546, + 696.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -743.297825781508, + 695.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.8959019928614, + 693.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -748.4939782042147, + 692.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -751.0920544155681, + 690.8594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -753.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -753.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -756.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -759.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -762.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 37, + "pos": [ + -765.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -768.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -771.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 40, + "pos": [ + -774.6901306269215, + 689.3594355039202, + -18.826603785675324 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-13_1687926652/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-13_1687926652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..502f2763528037dd660a2304f8dc54e56b674865 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_17-48-13_1687926652/pose.jsonl @@ -0,0 +1,1506 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -94.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -97.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -100.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -103.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -106.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -109.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -112.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -115.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -118.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -121.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -124.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -127.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -130.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -136.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -139.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -142.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -145.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -148.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -151.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -154.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -157.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -163.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -166.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -169.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -172.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -175.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -178.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -181.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -184.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -184.125755315558, + 567.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -186.7238315269113, + 569.3980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -189.32190773826463, + 570.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -191.91998394961794, + 572.3980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -194.51806016097126, + 573.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -197.11613637232458, + 575.3980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -199.7142125836779, + 576.8980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -202.3122887950312, + 578.3980239918632, + -12.380163588190907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -204.91036500638452, + 579.8980239918632, + -12.380163588190907 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-13-0_1244316437/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-13-0_1244316437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53dc948ee22185cab46cad573213eced7afdac68 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-13-0_1244316437/pose.jsonl @@ -0,0 +1,1202 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -624.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -618.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -615.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -612.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -609.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -606.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -597.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -594.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -591.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -588.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -585.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -582.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -579.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -576.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -573.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -570.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -567.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -564.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -564.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -564.1757848001292, + 120.64203576591291, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -562.6757848001292, + 118.04395955455959, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -561.1757848001292, + 115.44588334320628, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -559.6757848001292, + 112.84780713185296, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -558.1757848001292, + 110.24973092049964, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -556.6757848001292, + 107.65165470914633, + -10.11049796672905 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -556.6757848001292, + 107.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -554.077708588776, + 106.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -551.4796323774226, + 104.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -548.8815561660692, + 103.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -546.2834799547159, + 101.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -543.6854037433625, + 100.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -541.0873275320091, + 98.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -538.4892513206557, + 97.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -535.8911751093024, + 95.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -533.293098897949, + 94.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -530.6950226865956, + 92.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -528.0969464752422, + 91.15165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -525.4988702638889, + 89.65165470914633, + -10.11049796672905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -522.9007940525355, + 88.15165470914633, + -10.11049796672905 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-14-43_1626276121/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-14-43_1626276121/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca5656a7458c68dd85dbf3740b89bc853e483dfb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-14-43_1626276121/pose.jsonl @@ -0,0 +1,1992 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -886.1512062094076, + 411.7251164434315, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -884.6512062094076, + 414.3231926547848, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -883.1512062094076, + 416.9212688661381, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -881.6512062094076, + 419.51934507749144, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -880.1512062094076, + 422.11742128884475, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -878.6512062094076, + 424.71549750019807, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -877.1512062094076, + 427.3135737115514, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -875.6512062094076, + 429.9116499229047, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -874.1512062094076, + 432.509726134258, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -872.6512062094076, + 435.10780234561133, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -871.1512062094076, + 437.70587855696465, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -869.6512062094076, + 440.30395476831796, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -868.1512062094076, + 442.9020309796713, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -866.6512062094076, + 445.5001071910246, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -865.1512062094076, + 448.0981834023779, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -863.6512062094076, + 450.69625961373123, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -862.1512062094076, + 453.29433582508454, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -860.6512062094076, + 455.89241203643786, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -859.1512062094076, + 458.4904882477912, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -857.6512062094076, + 461.0885644591445, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -856.1512062094076, + 463.6866406704978, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -854.6512062094076, + 466.2847168818511, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -853.1512062094076, + 468.88279309320444, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -851.6512062094076, + 471.48086930455776, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -850.1512062094076, + 474.0789455159111, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -848.6512062094076, + 476.6770217272644, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -847.1512062094076, + 479.2750979386177, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -845.6512062094076, + 481.873174149971, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -844.1512062094076, + 484.47125036132434, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -842.6512062094076, + 487.06932657267765, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -841.1512062094076, + 489.66740278403097, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -839.6512062094076, + 492.2654789953843, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -838.1512062094076, + 494.8635552067376, + -15.184081107957793 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -838.1512062094076, + 494.8635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -835.5531299980544, + 496.3635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -832.955053786701, + 497.8635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -830.3569775753476, + 499.3635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -827.7589013639943, + 500.8635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -825.1608251526409, + 502.3635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -822.5627489412875, + 503.8635552067376, + -15.184081107957793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -819.9646727299341, + 505.3635552067376, + -15.184081107957793 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-25_1875335928/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-25_1875335928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f19c77666f8aa142fde12fb8ff2e453db70abf2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-25_1875335928/pose.jsonl @@ -0,0 +1,966 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 63.93821960439212, + -134.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.3401433930388, + -133.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 58.742067181685485, + -131.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 56.14399097033217, + -130.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.54591475897885, + -128.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 50.94783854762554, + -127.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.34976233627222, + -125.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.751686124918905, + -124.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 43.15360991356559, + -122.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.55553370221227, + -121.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.95745749085896, + -119.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 35.35938127950564, + -118.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 32.761305068152325, + -116.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 30.16322885679901, + -115.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 27.565152645445693, + -113.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 24.967076434092377, + -112.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 22.36900022273906, + -110.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 19.770924011385745, + -109.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 17.17284780003243, + -107.68492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 14.574771588679113, + -106.18492019450633, + -21.3469201561106 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.574771588679113, + -106.18492019450633, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 13.074771588679113, + -103.58684398315302, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 11.574771588679113, + -100.9887677717997, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.074771588679113, + -98.39069156044638, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 8.574771588679113, + -95.79261534909307, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 7.074771588679114, + -93.19453913773975, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.5747715886791145, + -90.59646292638644, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 4.074771588679115, + -87.99838671503312, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 2.5747715886791163, + -85.4003105036798, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 1.074771588679117, + -82.80223429232649, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -0.4252284113208824, + -80.20415808097317, + -21.3469201561106 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -0.4252284113208824, + -80.20415808097317, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -3.0233046226741984, + -78.70415808097317, + -21.3469201561106 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -5.621380834027514, + -77.20415808097317, + -21.3469201561106 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-2_1987231011/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-2_1987231011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25ca4c198fc7aaeab75d029028489322aa60bcfd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-18-2_1987231011/pose.jsonl @@ -0,0 +1,1708 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -634.8647988414824, + 857.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -634.8647988414824, + 854.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -634.8647988414824, + 851.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -634.8647988414824, + 848.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.8647988414824, + 845.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -634.8647988414824, + 842.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -634.8647988414824, + 839.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -634.8647988414824, + 836.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -634.8647988414824, + 833.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -634.8647988414824, + 830.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.8647988414824, + 827.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -634.8647988414824, + 824.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -634.8647988414824, + 821.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -634.8647988414824, + 818.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -634.8647988414824, + 815.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -634.8647988414824, + 812.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -634.8647988414824, + 809.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -634.8647988414824, + 806.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -634.8647988414824, + 803.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -634.8647988414824, + 800.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.8647988414824, + 797.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -634.8647988414824, + 794.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.8647988414824, + 791.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -634.8647988414824, + 788.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -634.8647988414824, + 785.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.8647988414824, + 782.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -634.8647988414824, + 779.8578444463656, + -4.5274822400249946 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -634.8647988414824, + 779.8578444463656, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -636.3647988414824, + 777.2597682350122, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -637.8647988414824, + 774.6616920236588, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -639.3647988414824, + 772.0636158123054, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -640.8647988414824, + 769.4655396009521, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -642.3647988414824, + 766.8674633895987, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -643.8647988414824, + 764.2693871782453, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -645.3647988414824, + 761.671310966892, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -646.8647988414824, + 759.0732347555386, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -648.3647988414824, + 756.4751585441852, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -649.8647988414824, + 753.8770823328318, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -651.3647988414824, + 751.2790061214785, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -652.8647988414824, + 748.6809299101251, + -4.5274822400249946 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -654.3647988414824, + 746.0828536987717, + -4.5274822400249946 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-21-51_1909002904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-21-51_1909002904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34160a47971f73adfd04bf8035d7d21464790ec8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-21-51_1909002904/pose.jsonl @@ -0,0 +1,1531 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -412.2259216491628, + 609.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -414.8239978605161, + 610.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -417.4220740718694, + 612.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -420.02015028322273, + 613.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -422.61822649457605, + 615.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -425.21630270592937, + 616.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -427.8143789172827, + 618.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -430.412455128636, + 619.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -433.0105313399893, + 621.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -435.60860755134263, + 622.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -438.20668376269595, + 624.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -440.80475997404926, + 625.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -443.4028361854026, + 627.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -446.0009123967559, + 628.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -448.5989886081092, + 630.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -451.1970648194625, + 631.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -453.79514103081584, + 633.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -456.39321724216916, + 634.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -458.9912934535225, + 636.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -461.5893696648758, + 637.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -464.1874458762291, + 639.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -466.7855220875824, + 640.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -469.38359829893574, + 642.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -471.98167451028905, + 643.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -474.57975072164237, + 645.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -477.1778269329957, + 646.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -479.775903144349, + 648.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -482.3739793557023, + 649.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -484.97205556705563, + 651.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -487.57013177840895, + 652.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -490.16820798976227, + 654.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -492.7662842011156, + 655.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -495.3643604124689, + 657.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -497.9624366238222, + 658.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -500.56051283517553, + 660.1947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -503.15858904652885, + 661.6947862479445, + -11.81425982818718 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -505.75666525788216, + 663.1947862479445, + -11.81425982818718 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-50_496987743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-50_496987743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce66dc6c986184b8c00e9e792915c665d2c0874d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-24-50_496987743/pose.jsonl @@ -0,0 +1,1104 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -116.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -119.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -122.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -125.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -128.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -131.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -137.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -140.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -143.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + -155.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + -158.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -161.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -164.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -167.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -176.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -182.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -185.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -188.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -191.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -197.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -200.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -203.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -206.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -209.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -212.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -215.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -218.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -221.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -221.8242697359114, + 597.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -224.42234594726472, + 595.9388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -227.02042215861803, + 594.4388820873048, + -26.585580510139135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -229.61849836997135, + 592.9388820873048, + -26.585580510139135 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-27-36_1172755590/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-27-36_1172755590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d30c2539ee027c6b03e6dca9fcec8b62aff11a86 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-27-36_1172755590/pose.jsonl @@ -0,0 +1,1385 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -68.6895061373468, + 614.1464244127944, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -67.1895061373468, + 611.5483482014411, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -65.6895061373468, + 608.9502719900877, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -64.1895061373468, + 606.3521957787343, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -62.6895061373468, + 603.7541195673809, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -61.1895061373468, + 601.1560433560276, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -59.6895061373468, + 598.5579671446742, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -58.1895061373468, + 595.9598909333208, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -56.6895061373468, + 593.3618147219674, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -55.1895061373468, + 590.7637385106141, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -53.6895061373468, + 588.1656622992607, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -52.1895061373468, + 585.5675860879073, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -50.6895061373468, + 582.969509876554, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -49.1895061373468, + 580.3714336652006, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.6895061373468, + 577.7733574538472, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -46.1895061373468, + 575.1752812424938, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -44.6895061373468, + 572.5772050311405, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -43.1895061373468, + 569.9791288197871, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -41.6895061373468, + 567.3810526084337, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -40.1895061373468, + 564.7829763970803, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -38.6895061373468, + 562.184900185727, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -37.1895061373468, + 559.5868239743736, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -35.6895061373468, + 556.9887477630202, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -34.1895061373468, + 554.3906715516669, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -32.6895061373468, + 551.7925953403135, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -31.189506137346797, + 549.1945191289601, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -29.689506137346797, + 546.5964429176067, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -28.189506137346797, + 543.9983667062534, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -26.689506137346797, + 541.4002904949, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -25.189506137346797, + 538.8022142835466, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.689506137346797, + 536.2041380721932, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -22.189506137346797, + 533.6060618608399, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -20.689506137346797, + 531.0079856494865, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -19.189506137346797, + 528.4099094381331, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -17.689506137346797, + 525.8118332267798, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -16.189506137346797, + 523.2137570154264, + -1.2799573170961445 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -16.189506137346797, + 523.2137570154264, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -13.59142992599348, + 521.7137570154264, + -1.2799573170961445 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -10.993353714640165, + 520.2137570154264, + -1.2799573170961445 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-28-18_243268139/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-28-18_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf4d1b9d3e449657b9bf2c3697d8ef0f9098143f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-28-18_243268139/pose.jsonl @@ -0,0 +1,1434 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -703.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -700.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -697.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -691.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -688.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -685.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -682.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -676.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -673.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -670.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -664.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -661.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -658.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -655.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -649.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -646.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -643.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -637.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -634.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -631.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -628.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -625.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -622.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -619.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -616.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -616.1953391942309, + 231.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -613.5972629828775, + 233.122941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -610.9991867715241, + 234.622941965373, + -17.924991274678604 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -608.4011105601708, + 236.122941965373, + -17.924991274678604 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-35-41_889023311/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-35-41_889023311/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d07fe2239495b91d028d362b9a2a877f0e903f30 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-35-41_889023311/pose.jsonl @@ -0,0 +1,1284 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -797.0522591817592, + 674.2595665852882, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -795.5522591817592, + 676.8576427966416, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -794.0522591817592, + 679.455719007995, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -792.5522591817592, + 682.0537952193483, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -791.0522591817592, + 684.6518714307017, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -789.5522591817592, + 687.2499476420551, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -788.0522591817592, + 689.8480238534084, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -786.5522591817592, + 692.4461000647618, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -785.0522591817592, + 695.0441762761152, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -783.5522591817592, + 697.6422524874686, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -782.0522591817592, + 700.2403286988219, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -780.5522591817592, + 702.8384049101753, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -779.0522591817592, + 705.4364811215287, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -777.5522591817592, + 708.0345573328821, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -776.0522591817592, + 710.6326335442354, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.5522591817592, + 713.2307097555888, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -773.0522591817592, + 715.8287859669422, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.5522591817592, + 718.4268621782956, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -770.0522591817592, + 721.0249383896489, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.5522591817592, + 723.6230146010023, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -767.0522591817592, + 726.2210908123557, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.5522591817592, + 728.819167023709, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -764.0522591817592, + 731.4172432350624, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -762.5522591817592, + 734.0153194464158, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -761.0522591817592, + 736.6133956577692, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -759.5522591817592, + 739.2114718691225, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -758.0522591817592, + 741.8095480804759, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -756.5522591817592, + 744.4076242918293, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -755.0522591817592, + 747.0057005031827, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -753.5522591817592, + 749.603776714536, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -752.0522591817592, + 752.2018529258894, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -750.5522591817592, + 754.7999291372428, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -749.0522591817592, + 757.3980053485961, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -747.5522591817592, + 759.9960815599495, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -746.0522591817592, + 762.5941577713029, + -8.42092822736739 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -746.0522591817592, + 762.5941577713029, + -8.42092822736739 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -746.0522591817592, + 762.5941577713029, + -8.42092822736739 + ], + "type": "go straight", + "value": 3, + "yaw": 9.547918011776346e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -743.0522591817592, + 762.5941577713029, + -8.42092822736739 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-0_745425661/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-0_745425661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53fe97ed464dfcd063b765ae18bd12efd0d87770 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-0_745425661/pose.jsonl @@ -0,0 +1,1753 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -458.926056270147, + 592.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -458.926056270147, + 589.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -458.926056270147, + 586.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -458.926056270147, + 583.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -458.926056270147, + 580.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -458.926056270147, + 577.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -458.926056270147, + 574.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -458.926056270147, + 571.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -458.926056270147, + 568.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -458.926056270147, + 565.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -458.926056270147, + 562.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -458.926056270147, + 559.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -458.926056270147, + 556.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -458.926056270147, + 553.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -458.926056270147, + 550.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -458.926056270147, + 547.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -458.926056270147, + 544.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -458.926056270147, + 541.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -458.926056270147, + 538.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -458.926056270147, + 535.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -458.926056270147, + 532.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -458.926056270147, + 529.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -458.926056270147, + 526.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -458.926056270147, + 523.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -458.926056270147, + 520.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -458.926056270147, + 517.1440364073496, + -10.436284315472296 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -458.926056270147, + 517.1440364073496, + -10.436284315472296 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -458.926056270147, + 517.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -461.5241324815003, + 515.6440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -464.12220869285363, + 514.1440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -466.72028490420695, + 512.6440364073496, + -10.436284315472296 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -466.72028490420695, + 512.6440364073496, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -468.22028490420695, + 510.0459601959963, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -469.72028490420695, + 507.447883984643, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -471.22028490420695, + 504.8498077732897, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -472.72028490420695, + 502.25173156193637, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -474.22028490420695, + 499.65365535058305, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -475.72028490420695, + 497.05557913922974, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -477.22028490420695, + 494.4575029278764, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -478.72028490420695, + 491.8594267165231, + -10.436284315472296 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -478.72028490420695, + 491.8594267165231, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -478.72028490420695, + 488.8594267165231, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -478.72028490420695, + 485.8594267165231, + -10.436284315472296 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + -478.72028490420695, + 482.8594267165231, + -10.436284315472296 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-23_396473730/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-23_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..897ddd6f34fb17f554eacf1cc4bdc669e954bde6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-37-23_396473730/pose.jsonl @@ -0,0 +1,1928 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -686.2021569847415, + 613.2438607442115, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -687.7021569847415, + 610.6457845328582, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -689.2021569847415, + 608.0477083215048, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -690.7021569847415, + 605.4496321101515, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.2021569847415, + 602.8515558987981, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -693.7021569847415, + 600.2534796874447, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -695.2021569847415, + 597.6554034760914, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.7021569847415, + 595.057327264738, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -698.2021569847415, + 592.4592510533846, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.7021569847415, + 589.8611748420312, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -701.2021569847415, + 587.2630986306779, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.7021569847415, + 584.6650224193245, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -704.2021569847415, + 582.0669462079711, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.7021569847415, + 579.4688699966177, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -707.2021569847415, + 576.8707937852644, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.7021569847415, + 574.272717573911, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -710.2021569847415, + 571.6746413625576, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -711.7021569847415, + 569.0765651512042, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -713.2021569847415, + 566.4784889398509, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.7021569847415, + 563.8804127284975, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -716.2021569847415, + 561.2823365171441, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -717.7021569847415, + 558.6842603057908, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -719.2021569847415, + 556.0861840944374, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -720.7021569847415, + 553.488107883084, + -18.09944172528617 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -720.7021569847415, + 553.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -720.7021569847415, + 550.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -720.7021569847415, + 547.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -720.7021569847415, + 544.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -720.7021569847415, + 541.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -720.7021569847415, + 538.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -720.7021569847415, + 535.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -720.7021569847415, + 532.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -720.7021569847415, + 529.488107883084, + -18.09944172528617 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -720.7021569847415, + 526.488107883084, + -18.09944172528617 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-41-23_188213258/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-41-23_188213258/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..941eb626d23e674b58f04cc7060fad10df4a28a8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-41-23_188213258/pose.jsonl @@ -0,0 +1,882 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -833.9614039915953, + 419.7861919415193, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -835.4614039915953, + 417.188115730166, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -836.9614039915953, + 414.59003951881266, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -838.4614039915953, + 411.99196330745934, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -839.9614039915953, + 409.393887096106, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -841.4614039915953, + 406.7958108847527, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -842.9614039915953, + 404.1977346733994, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -844.4614039915953, + 401.5996584620461, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -845.9614039915953, + 399.00158225069276, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -847.4614039915953, + 396.40350603933945, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -848.9614039915953, + 393.80542982798613, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -850.4614039915953, + 391.2073536166328, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -851.9614039915953, + 388.6092774052795, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -853.4614039915953, + 386.0112011939262, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -854.9614039915953, + 383.41312498257287, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -856.4614039915953, + 380.81504877121955, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -857.9614039915953, + 378.21697255986624, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -859.4614039915953, + 375.6188963485129, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -860.9614039915953, + 373.0208201371596, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -862.4614039915953, + 370.4227439258063, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -863.9614039915953, + 367.82466771445297, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -865.4614039915953, + 365.22659150309966, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -866.9614039915953, + 362.62851529174634, + -23.085903433577823 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -866.9614039915953, + 362.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -866.9614039915953, + 359.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -866.9614039915953, + 356.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -866.9614039915953, + 353.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -866.9614039915953, + 350.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -866.9614039915953, + 347.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -866.9614039915953, + 344.62851529174634, + -23.085903433577823 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -866.9614039915953, + 341.62851529174634, + -23.085903433577823 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-22_1473442062/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-22_1473442062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..69cc43f2188c6e15f89d607a9eeb737186663c20 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-42-22_1473442062/pose.jsonl @@ -0,0 +1,1973 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -751.6269385486138, + 655.2058703262762, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -750.1269385486138, + 652.6077941149229, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.6269385486138, + 650.0097179035695, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -747.1269385486138, + 647.4116416922161, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.6269385486138, + 644.8135654808627, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.1269385486138, + 642.2154892695094, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -742.6269385486138, + 639.617413058156, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -741.1269385486138, + 637.0193368468026, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.6269385486138, + 634.4212606354492, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -738.1269385486138, + 631.8231844240959, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -736.6269385486138, + 629.2251082127425, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -735.1269385486138, + 626.6270320013891, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -733.6269385486138, + 624.0289557900358, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -732.1269385486138, + 621.4308795786824, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -730.6269385486138, + 618.832803367329, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -729.1269385486138, + 616.2347271559756, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -727.6269385486138, + 613.6366509446223, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -726.1269385486138, + 611.0385747332689, + -23.718953445175835 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -726.1269385486138, + 611.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -723.5288623372605, + 609.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -720.9307861259072, + 608.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -718.3327099145538, + 606.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -715.7346337032004, + 605.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -713.136557491847, + 603.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.5384812804937, + 602.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.9404050691403, + 600.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -705.3423288577869, + 599.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -702.7442526464336, + 597.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.1461764350802, + 596.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -697.5481002237268, + 594.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -694.9500240123734, + 593.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.3519478010201, + 591.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -689.7538715896667, + 590.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.1557953783133, + 588.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -684.5577191669599, + 587.0385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -681.9596429556066, + 585.5385747332689, + -23.718953445175835 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -679.3615667442532, + 584.0385747332689, + -23.718953445175835 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-43-20_776532036/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-43-20_776532036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e028700226245a6ee132738a985e0c1af93aa09 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-43-20_776532036/pose.jsonl @@ -0,0 +1,1163 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -116.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -119.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -122.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -125.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -128.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -131.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -137.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -140.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -143.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -149.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -152.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -155.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -158.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -161.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -164.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -167.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -173.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -176.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -179.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -182.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -185.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -188.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -188.21748598180798, + 587.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -190.8155621931613, + 585.6082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -193.41363840451461, + 584.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -196.01171461586793, + 582.6082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -198.60979082722125, + 581.1082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -201.20786703857456, + 579.6082033858941, + -27.102498562950014 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -203.80594324992788, + 578.1082033858941, + -27.102498562950014 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -228.39022827148438, + 535.6035957336426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -206.81848335266113, + 579.483003616333, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-44-1_1273911899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-44-1_1273911899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a2a5548b6eedad68be0403a6190fb3cfb856d82 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-44-1_1273911899/pose.jsonl @@ -0,0 +1,2622 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -429.4100067234426, + 743.0027359492345, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.9100067234426, + 740.4046597378813, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -426.4100067234426, + 737.8065835265279, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -424.9100067234426, + 735.2085073151745, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -423.4100067234426, + 732.6104311038212, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -421.9100067234426, + 730.0123548924678, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -420.4100067234426, + 727.4142786811144, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -418.9100067234426, + 724.816202469761, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -417.4100067234426, + 722.2181262584077, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -415.9100067234426, + 719.6200500470543, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -414.4100067234426, + 717.0219738357009, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -412.9100067234426, + 714.4238976243475, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -411.4100067234426, + 711.8258214129942, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -409.9100067234426, + 709.2277452016408, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -408.4100067234426, + 706.6296689902874, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -406.9100067234426, + 704.031592778934, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -405.4100067234426, + 701.4335165675807, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -403.9100067234426, + 698.8354403562273, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -402.4100067234426, + 696.2373641448739, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -400.9100067234426, + 693.6392879335206, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -399.4100067234426, + 691.0412117221672, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -397.9100067234426, + 688.4431355108138, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -396.4100067234426, + 685.8450592994604, + -10.838631408254003 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.4100067234426, + 685.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -393.8119305120893, + 684.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -391.213854300736, + 682.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -388.6157780893827, + 681.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -386.01770187802936, + 679.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -383.41962566667604, + 678.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -380.8215494553227, + 676.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -378.2234732439694, + 675.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -375.6253970326161, + 673.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -373.0273208212628, + 672.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -370.42924460990946, + 670.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -367.83116839855614, + 669.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -365.23309218720283, + 667.8450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -362.6350159758495, + 666.3450592994604, + -10.838631408254003 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -362.6350159758495, + 666.3450592994604, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -361.1350159758495, + 663.7469830881071, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -359.6350159758495, + 661.1489068767537, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -358.1350159758495, + 658.5508306654003, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -356.6350159758495, + 655.952754454047, + -10.838631408254003 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -355.1350159758495, + 653.3546782426936, + -10.838631408254003 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-46-5_407487131/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-46-5_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0208f62399796630660c6ca7f15f42159ead9d8f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-46-5_407487131/pose.jsonl @@ -0,0 +1,1050 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -175.8638642394174, + 285.25748810148446, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -178.46194045077073, + 283.75748810148446, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -181.06001666212404, + 282.25748810148446, + -3.803738925969604 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.06001666212404, + 282.25748810148446, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -182.56001666212404, + 279.65941189013114, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -184.06001666212404, + 277.0613356787778, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -185.56001666212404, + 274.4632594674245, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -187.06001666212404, + 271.8651832560712, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -188.56001666212404, + 269.2671070447179, + -3.803738925969604 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -188.56001666212404, + 269.2671070447179, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.56001666212404, + 266.2671070447179, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -188.56001666212404, + 263.2671070447179, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -188.56001666212404, + 260.2671070447179, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -188.56001666212404, + 257.2671070447179, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.56001666212404, + 254.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -188.56001666212404, + 251.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -188.56001666212404, + 248.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -188.56001666212404, + 245.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -188.56001666212404, + 242.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -188.56001666212404, + 239.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -188.56001666212404, + 236.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -188.56001666212404, + 233.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -188.56001666212404, + 230.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -188.56001666212404, + 227.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -188.56001666212404, + 224.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -188.56001666212404, + 221.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -188.56001666212404, + 218.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -188.56001666212404, + 215.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -188.56001666212404, + 212.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -188.56001666212404, + 209.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -188.56001666212404, + 206.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -188.56001666212404, + 203.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -188.56001666212404, + 200.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -188.56001666212404, + 197.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -188.56001666212404, + 194.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -188.56001666212404, + 191.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -188.56001666212404, + 188.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -188.56001666212404, + 185.26710704471787, + -3.803738925969604 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -188.56001666212404, + 182.26710704471787, + -3.803738925969604 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-50-12_1472713773/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-50-12_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1164031b306329bc06af0d65140a129ff2bd163 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-50-12_1472713773/pose.jsonl @@ -0,0 +1,1164 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -537.6888726113372, + 288.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -537.6888726113372, + 285.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -537.6888726113372, + 282.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -537.6888726113372, + 279.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -537.6888726113372, + 276.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -537.6888726113372, + 273.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -537.6888726113372, + 270.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -537.6888726113372, + 267.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -537.6888726113372, + 264.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -537.6888726113372, + 261.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -537.6888726113372, + 258.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -537.6888726113372, + 255.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -537.6888726113372, + 252.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -537.6888726113372, + 249.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -537.6888726113372, + 246.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -537.6888726113372, + 243.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -537.6888726113372, + 240.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -537.6888726113372, + 237.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -537.6888726113372, + 234.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -537.6888726113372, + 231.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -537.6888726113372, + 228.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -537.6888726113372, + 225.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -537.6888726113372, + 222.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -537.6888726113372, + 219.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -537.6888726113372, + 216.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -537.6888726113372, + 213.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -537.6888726113372, + 210.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -537.6888726113372, + 207.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -537.6888726113372, + 204.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -537.6888726113372, + 201.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -537.6888726113372, + 198.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -537.6888726113372, + 195.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -537.6888726113372, + 192.20031547802785, + -12.453042069707667 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -537.6888726113372, + 192.20031547802785, + -12.453042069707667 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -537.6888726113372, + 192.20031547802785, + -12.453042069707667 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -540.2869488226904, + 190.70031547802785, + -12.453042069707667 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-57-5_1823089412/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-57-5_1823089412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c7292aecffc37a70fffe21ee7b6ae11990113b9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_18-57-5_1823089412/pose.jsonl @@ -0,0 +1,994 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.165664040215148, + 129.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 6.567587828861832, + 131.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 3.969511617508516, + 132.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 1.3714354061552, + 134.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.226640805198116, + 135.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -3.824717016551432, + 137.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.422793227904748, + 138.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -9.020869439258064, + 140.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.61894565061138, + 141.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -14.217021861964696, + 143.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -16.815098073318012, + 144.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -19.413174284671328, + 146.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -22.011250496024644, + 147.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -24.60932670737796, + 149.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -27.207402918731276, + 150.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -29.805479130084592, + 152.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -32.40355534143791, + 153.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -35.001631552791224, + 155.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -37.59970776414454, + 156.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -40.197783975497856, + 158.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -42.79586018685117, + 159.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -45.39393639820449, + 161.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -47.992012609557804, + 162.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -50.59008882091112, + 164.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -53.188165032264436, + 165.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -55.78624124361775, + 167.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -58.38431745497107, + 168.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -60.982393666324384, + 170.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -63.5804698776777, + 171.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -66.17854608903102, + 173.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -68.77662230038433, + 174.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -71.37469851173765, + 176.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -73.97277472309096, + 177.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -76.57085093444428, + 179.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -79.1689271457976, + 180.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -81.76700335715091, + 182.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -84.36507956850423, + 183.77841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -86.96315577985754, + 185.27841457546907, + -0.245751967116977 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 38, + "pos": [ + -89.56123199121086, + 186.77841457546907, + -0.245751967116977 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-1-43_260401255/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-1-43_260401255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc2efb58d49a84a4bd02db6d3e636d8152d71415 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-1-43_260401255/pose.jsonl @@ -0,0 +1,988 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -639.6686796859121, + 465.112426362218, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -638.1686796859121, + 462.5143501508647, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -636.6686796859121, + 459.91627393951137, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -635.1686796859121, + 457.31819772815805, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -633.6686796859121, + 454.72012151680474, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -632.1686796859121, + 452.1220453054514, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -630.6686796859121, + 449.5239690940981, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -629.1686796859121, + 446.9258928827448, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -627.6686796859121, + 444.3278166713915, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -626.1686796859121, + 441.72974046003816, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -624.6686796859121, + 439.13166424868484, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -623.1686796859121, + 436.5335880373315, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.6686796859121, + 433.9355118259782, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -620.1686796859121, + 431.3374356146249, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -618.6686796859121, + 428.7393594032716, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -617.1686796859121, + 426.14128319191826, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -615.6686796859121, + 423.54320698056495, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -614.1686796859121, + 420.94513076921163, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -612.6686796859121, + 418.3470545578583, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -611.1686796859121, + 415.748978346505, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -609.6686796859121, + 413.1509021351517, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -608.1686796859121, + 410.55282592379837, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -606.6686796859121, + 407.95474971244505, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -605.1686796859121, + 405.35667350109173, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -603.6686796859121, + 402.7585972897384, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -602.1686796859121, + 400.1605210783851, + -2.916571145102779 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -602.1686796859121, + 400.1605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -599.5706034745588, + 398.6605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -596.9725272632054, + 397.1605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -594.374451051852, + 395.6605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -591.7763748404986, + 394.1605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -589.1782986291453, + 392.6605210783851, + -2.916571145102779 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -586.5802224177919, + 391.1605210783851, + -2.916571145102779 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-10-9_1253207672/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-10-9_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ee54642f4344627da2f03810423843ba88c79dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-10-9_1253207672/pose.jsonl @@ -0,0 +1,2029 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -754.4527661992294, + 449.68484445099625, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -755.9527661992294, + 452.28292066234957, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.4527661992294, + 454.8809968737029, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -758.9527661992294, + 457.4790730850562, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -760.4527661992294, + 460.0771492964095, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -761.9527661992294, + 462.67522550776283, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.4527661992294, + 465.27330171911615, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -764.9527661992294, + 467.87137793046946, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -766.4527661992294, + 470.4694541418228, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -767.9527661992294, + 473.0675303531761, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.4527661992294, + 475.6656065645294, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -770.9527661992294, + 478.2636827758827, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -772.4527661992294, + 480.86175898723604, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.9527661992294, + 483.45983519858936, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -775.4527661992294, + 486.0579114099427, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -776.9527661992294, + 488.655987621296, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.4527661992294, + 491.2540638326493, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.9527661992294, + 493.8521400440026, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -781.4527661992294, + 496.45021625535594, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -782.9527661992294, + 499.04829246670926, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -784.4527661992294, + 501.6463686780626, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -785.9527661992294, + 504.2444448894159, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -787.4527661992294, + 506.8425211007692, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -788.9527661992294, + 509.4405973121225, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -790.4527661992294, + 512.0386735234758, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -791.9527661992294, + 514.6367497348292, + -6.046375446563253 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -791.9527661992294, + 514.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -791.9527661992294, + 517.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -791.9527661992294, + 520.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -791.9527661992294, + 523.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -791.9527661992294, + 526.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -791.9527661992294, + 529.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -791.9527661992294, + 532.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -791.9527661992294, + 535.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -791.9527661992294, + 538.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -791.9527661992294, + 541.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -791.9527661992294, + 544.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -791.9527661992294, + 547.6367497348292, + -6.046375446563253 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -791.9527661992294, + 550.6367497348292, + -6.046375446563253 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-10_1635905385/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-10_1635905385/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23caf8b738935b1cf56da334f0633352d44a8907 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-11-10_1635905385/pose.jsonl @@ -0,0 +1,1556 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -483.4356771593123, + 355.1886362386956, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -484.9356771593123, + 352.5905600273423, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -486.4356771593123, + 349.992483815989, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -487.9356771593123, + 347.39440760463566, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -489.4356771593123, + 344.79633139328234, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -490.9356771593123, + 342.198255181929, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -492.4356771593123, + 339.6001789705757, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -493.9356771593123, + 337.0021027592224, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -495.4356771593123, + 334.4040265478691, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -496.9356771593123, + 331.80595033651576, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -498.4356771593123, + 329.20787412516245, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -499.9356771593123, + 326.60979791380913, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.4356771593123, + 324.0117217024558, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -502.9356771593123, + 321.4136454911025, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -504.4356771593123, + 318.8155692797492, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -505.9356771593123, + 316.21749306839587, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -507.4356771593123, + 313.61941685704255, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -508.9356771593123, + 311.02134064568924, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -510.4356771593123, + 308.4232644343359, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -511.9356771593123, + 305.8251882229826, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -513.4356771593123, + 303.2271120116293, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -514.9356771593123, + 300.629035800276, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -516.4356771593123, + 298.03095958892266, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -517.9356771593123, + 295.43288337756934, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -519.4356771593123, + 292.834807166216, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -520.9356771593123, + 290.2367309548627, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -522.4356771593123, + 287.6386547435094, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -523.9356771593123, + 285.0405785321561, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -525.4356771593123, + 282.44250232080276, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -526.9356771593123, + 279.84442610944944, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -528.4356771593123, + 277.2463498980961, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -529.9356771593123, + 274.6482736867428, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -531.4356771593123, + 272.0501974753895, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -532.9356771593123, + 269.4521212640362, + -9.060200445662858 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -532.9356771593123, + 269.4521212640362, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -535.5337533706656, + 267.9521212640362, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -538.131829582019, + 266.4521212640362, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -540.7299057933724, + 264.9521212640362, + -9.060200445662858 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -543.3279820047258, + 263.4521212640362, + -9.060200445662858 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-12-33_1343606042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-12-33_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab1f872b7ed7def161929dde18b7d570ad25aa34 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-12-33_1343606042/pose.jsonl @@ -0,0 +1,1244 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 62.5138095359944, + 565.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 59.91573332464108, + 563.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 57.317657113287765, + 562.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 54.71958090193445, + 560.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 52.12150469058113, + 559.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.52342847922782, + 557.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 46.9253522678745, + 556.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 44.327276056521185, + 554.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 41.72919984516787, + 553.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.13112363381455, + 551.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 36.53304742246124, + 550.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 33.93497121110792, + 548.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 31.336894999754605, + 547.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 28.73881878840129, + 545.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 26.140742577047973, + 544.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.542666365694657, + 542.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 20.94459015434134, + 541.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 18.346513942988025, + 539.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 15.74843773163471, + 538.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.150361520281393, + 536.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 10.552285308928077, + 535.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 7.954209097574761, + 533.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.356132886221445, + 532.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 2.758056674868129, + 530.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 0.1599804635148132, + 529.4913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -2.438095747838503, + 527.9913160288922, + -5.885583270063435 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.438095747838503, + 527.9913160288922, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.938095747838502, + 525.3932398175389, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -5.438095747838501, + 522.7951636061855, + -5.885583270063435 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.9380957478385, + 520.1970873948321, + -5.885583270063435 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-25-20_110613202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-25-20_110613202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa9709a167e7815d4496331cc1653198bb26c44b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-25-20_110613202/pose.jsonl @@ -0,0 +1,1330 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -817.312338290482, + 159.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -814.7142620791287, + 160.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -812.1161858677754, + 162.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.518109656422, + 163.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -806.9200334450686, + 165.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.3219572337152, + 166.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -801.7238810223619, + 168.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -799.1258048110085, + 169.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -796.5277285996551, + 171.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -793.9296523883017, + 172.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -791.3315761769484, + 174.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.733499965595, + 175.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.1354237542416, + 177.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -783.5373475428883, + 178.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -780.9392713315349, + 180.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.3411951201815, + 181.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -775.7431189088281, + 183.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -773.1450426974748, + 184.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -770.5469664861214, + 186.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -767.948890274768, + 187.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.3508140634146, + 189.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -762.7527378520613, + 190.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -760.1546616407079, + 192.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -757.5565854293545, + 193.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -754.9585092180012, + 195.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -752.3604330066478, + 196.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -749.7623567952944, + 198.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -747.164280583941, + 199.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -744.5662043725877, + 201.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -741.9681281612343, + 202.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.3700519498809, + 204.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -736.7719757385275, + 205.8627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -734.1738995271742, + 207.3627859498677, + -7.685988014198212 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -731.5758233158208, + 208.8627859498677, + -7.685988014198212 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-28-37_1277849958/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-28-37_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..163c7c717847da8e35350b8d75abf2d6f0de83a2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-28-37_1277849958/pose.jsonl @@ -0,0 +1,1157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -465.0233653734327, + 670.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -467.621441584786, + 672.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -470.2195177961393, + 673.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -472.81759400749263, + 675.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -475.41567021884595, + 676.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -478.01374643019926, + 678.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -480.6118226415526, + 679.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -483.2098988529059, + 681.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -485.8079750642592, + 682.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -488.4060512756125, + 684.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -491.00412748696584, + 685.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -493.60220369831916, + 687.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -496.2002799096725, + 688.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -498.7983561210258, + 690.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -501.3964323323791, + 691.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -503.9945085437324, + 693.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -506.59258475508574, + 694.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -509.19066096643905, + 696.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -511.78873717779237, + 697.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -514.3868133891457, + 699.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -516.984889600499, + 700.6969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -519.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -519.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -522.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -525.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -528.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -531.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -534.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -537.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -540.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -543.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -546.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -549.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -552.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -555.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -558.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -561.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -564.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -567.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -570.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -573.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -576.5829658118523, + 702.1969370281198, + -14.104408944853539 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-29-0_777210498/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-29-0_777210498/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3dd83e566c6d0cdc2405ecd6b6bc7de0687d5fa4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-29-0_777210498/pose.jsonl @@ -0,0 +1,1836 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -572.0547073834027, + 824.2830037992278, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.5547073834027, + 821.6849275878744, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -575.0547073834027, + 819.086851376521, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -576.5547073834027, + 816.4887751651677, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -578.0547073834027, + 813.8906989538143, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -579.5547073834027, + 811.2926227424609, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -581.0547073834027, + 808.6945465311076, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -582.5547073834027, + 806.0964703197542, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -584.0547073834027, + 803.4983941084008, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -585.5547073834027, + 800.9003178970474, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -587.0547073834027, + 798.3022416856941, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -588.5547073834027, + 795.7041654743407, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -590.0547073834027, + 793.1060892629873, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -591.5547073834027, + 790.508013051634, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -593.0547073834027, + 787.9099368402806, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -594.5547073834027, + 785.3118606289272, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -596.0547073834027, + 782.7137844175738, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -597.5547073834027, + 780.1157082062205, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -599.0547073834027, + 777.5176319948671, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -600.5547073834027, + 774.9195557835137, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -602.0547073834027, + 772.3214795721603, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -603.5547073834027, + 769.723403360807, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -605.0547073834027, + 767.1253271494536, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -606.5547073834027, + 764.5272509381002, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -608.0547073834027, + 761.9291747267469, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -609.5547073834027, + 759.3310985153935, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -611.0547073834027, + 756.7330223040401, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -612.5547073834027, + 754.1349460926867, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -614.0547073834027, + 751.5368698813334, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -615.5547073834027, + 748.93879366998, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -617.0547073834027, + 746.3407174586266, + -11.132747496539029 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -617.0547073834027, + 746.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -617.0547073834027, + 743.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -617.0547073834027, + 740.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -617.0547073834027, + 737.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -617.0547073834027, + 734.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -617.0547073834027, + 731.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -617.0547073834027, + 728.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -617.0547073834027, + 725.3407174586266, + -11.132747496539029 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -617.0547073834027, + 722.3407174586266, + -11.132747496539029 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-30-0_1023457753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-30-0_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ffdeda636a4c5402447fb2276f6988a25c7efeb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-30-0_1023457753/pose.jsonl @@ -0,0 +1,1163 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -535.9856870901998, + 288.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -535.9856870901998, + 285.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -535.9856870901998, + 282.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -535.9856870901998, + 279.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -535.9856870901998, + 276.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -535.9856870901998, + 273.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -535.9856870901998, + 270.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -535.9856870901998, + 267.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -535.9856870901998, + 264.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -535.9856870901998, + 261.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -535.9856870901998, + 258.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -535.9856870901998, + 255.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -535.9856870901998, + 252.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -535.9856870901998, + 249.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -535.9856870901998, + 246.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -535.9856870901998, + 243.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -535.9856870901998, + 240.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -535.9856870901998, + 237.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -535.9856870901998, + 234.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -535.9856870901998, + 231.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -535.9856870901998, + 228.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -535.9856870901998, + 225.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -535.9856870901998, + 222.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -535.9856870901998, + 219.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -535.9856870901998, + 216.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -535.9856870901998, + 213.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -535.9856870901998, + 210.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -535.9856870901998, + 207.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -535.9856870901998, + 204.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -535.9856870901998, + 201.56532288248405, + -22.584091650012862 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -535.9856870901998, + 201.56532288248405, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -537.4856870901998, + 198.96724667113074, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -538.9856870901998, + 196.36917045977742, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -540.4856870901998, + 193.7710942484241, + -22.584091650012862 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -541.9856870901998, + 191.1730180370708, + -22.584091650012862 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-33-46_364319529/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-33-46_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff4a10178b34dd865daadf6795beeb577dec373c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_19-33-46_364319529/pose.jsonl @@ -0,0 +1,1547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.8502195130477, + 553.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -575.2521433016943, + 551.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -572.654067090341, + 550.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -570.0559908789876, + 548.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -567.4579146676342, + 547.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -564.8598384562808, + 545.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -562.2617622449275, + 544.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -559.6636860335741, + 542.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -557.0656098222207, + 541.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -554.4675336108673, + 539.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -551.869457399514, + 538.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -549.2713811881606, + 536.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -546.6733049768072, + 535.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -544.0752287654539, + 533.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -541.4771525541005, + 532.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -538.8790763427471, + 530.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -536.2810001313937, + 529.4331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -533.6829239200404, + 527.9331787614337, + -13.686709539641235 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -533.6829239200404, + 527.9331787614337, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -532.1829239200404, + 525.3351025500804, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -530.6829239200404, + 522.737026338727, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -529.1829239200404, + 520.1389501273736, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -527.6829239200404, + 517.5408739160202, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -526.1829239200404, + 514.9427977046669, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -524.6829239200404, + 512.3447214933135, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -523.1829239200404, + 509.7466452819602, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -521.6829239200404, + 507.14856907060687, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -520.1829239200404, + 504.55049285925355, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -518.6829239200404, + 501.95241664790024, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -517.1829239200404, + 499.3543404365469, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -515.6829239200404, + 496.7562642251936, + -13.686709539641235 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -514.1829239200404, + 494.1581880138403, + -13.686709539641235 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-3_165344818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-3_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d78ee428a61b9ed0ac53370b2173573ae489c23f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-35-3_165344818/pose.jsonl @@ -0,0 +1,1034 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -288.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -282.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -279.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -273.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -270.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -267.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -264.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -261.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -258.3414003571352, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -255.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -252.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -249.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -246.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -243.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -240.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -237.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -234.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -231.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -228.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -225.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -219.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -216.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -213.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -210.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -210.34140035713523, + 191.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -207.7433241457819, + 190.38388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -205.1452479344286, + 188.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -202.54717172307528, + 187.38388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -199.94909551172196, + 185.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -197.35101930036865, + 184.38388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -194.75294308901533, + 182.88388410534276, + -7.982475823019353 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -192.15486687766202, + 181.38388410534276, + -7.982475823019353 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -91.73709297180176, + 189.9208345413208, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -189.65012454986572, + 180.22162532806396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-38-13_492067917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-38-13_492067917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ec1eeb69225ad75ee312b11fcd7044e9bc9c50e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-38-13_492067917/pose.jsonl @@ -0,0 +1,1830 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -518.2039322888775, + 619.1153499599898, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -515.2039322888775, + 619.1153499599898, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -512.2039322888775, + 619.1153499599898, + -6.028344966500228 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -512.2039322888775, + 619.1153499599898, + -6.028344966500228 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -512.2039322888775, + 619.1153499599898, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -510.70393228887747, + 616.5172737486364, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -509.20393228887747, + 613.919197537283, + -6.028344966500228 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -509.20393228887747, + 613.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -506.60585607752415, + 612.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -504.00777986617084, + 610.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -501.4097036548175, + 609.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -498.8116274434642, + 607.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -496.2135512321109, + 606.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -493.6154750207576, + 604.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -491.01739880940426, + 603.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -488.41932259805094, + 601.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -485.8212463866976, + 600.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -483.2231701753443, + 598.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -480.625093963991, + 597.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -478.0270177526377, + 595.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -475.42894154128436, + 594.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -472.83086532993104, + 592.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -470.2327891185777, + 591.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -467.6347129072244, + 589.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -465.0366366958711, + 588.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -462.4385604845178, + 586.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -459.84048427316446, + 585.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -457.24240806181115, + 583.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -454.64433185045783, + 582.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -452.0462556391045, + 580.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -449.4481794277512, + 579.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -446.8501032163979, + 577.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -444.25202700504457, + 576.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -441.65395079369125, + 574.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -439.05587458233794, + 573.419197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -436.4577983709846, + 571.919197537283, + -6.028344966500228 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -433.8597221596313, + 570.419197537283, + -6.028344966500228 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-48-15_1544617505/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-48-15_1544617505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89754ada13a72c8b0ab472a9b815f6ac98564b97 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-48-15_1544617505/pose.jsonl @@ -0,0 +1,1373 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 106.92099313495851, + 356.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 106.92099313495851, + 353.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 106.92099313495851, + 350.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 106.92099313495851, + 347.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 106.92099313495851, + 344.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 106.92099313495851, + 341.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 106.92099313495851, + 338.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 106.92099313495851, + 335.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 106.92099313495851, + 332.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 106.92099313495851, + 329.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 106.92099313495851, + 326.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.92099313495851, + 323.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 106.92099313495851, + 320.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 106.92099313495851, + 317.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 106.92099313495851, + 314.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 106.92099313495851, + 311.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 106.92099313495851, + 308.52970401184245, + -8.54551289064024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 106.92099313495851, + 308.52970401184245, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 108.42099313495851, + 305.93162780048914, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 109.92099313495851, + 303.3335515891358, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.42099313495851, + 300.7354753777825, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 112.92099313495851, + 298.1373991664292, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 114.42099313495851, + 295.5393229550759, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 115.92099313495851, + 292.94124674372256, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 117.42099313495851, + 290.34317053236924, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 118.92099313495851, + 287.7450943210159, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 120.42099313495851, + 285.1470181096626, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 121.92099313495851, + 282.5489418983093, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 123.42099313495851, + 279.950865686956, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 124.92099313495851, + 277.35278947560266, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 126.42099313495851, + 274.75471326424935, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 127.92099313495851, + 272.15663705289603, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 129.4209931349585, + 269.5585608415427, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 130.9209931349585, + 266.9604846301894, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 132.4209931349585, + 264.3624084188361, + -8.54551289064024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 133.9209931349585, + 261.76433220748277, + -8.54551289064024 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 176.12223529815674, + 236.40146827697754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-51-36_2027907669/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-51-36_2027907669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24be4beebff27b02a2dc864a88f57e95b25cedb7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-51-36_2027907669/pose.jsonl @@ -0,0 +1,1507 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 91.7784828849828, + 427.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 91.7784828849828, + 424.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 91.7784828849828, + 421.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 91.7784828849828, + 418.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 91.7784828849828, + 415.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.7784828849828, + 412.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 91.7784828849828, + 409.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 91.7784828849828, + 406.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 91.7784828849828, + 403.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 91.7784828849828, + 400.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 91.7784828849828, + 397.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.7784828849828, + 394.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.7784828849828, + 391.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 91.7784828849828, + 388.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 91.7784828849828, + 385.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 91.7784828849828, + 382.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 91.7784828849828, + 379.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 91.7784828849828, + 376.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 91.7784828849828, + 373.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 91.7784828849828, + 370.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 91.7784828849828, + 367.7304127842158, + -2.077734507577592 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.7784828849828, + 367.7304127842158, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 90.2784828849828, + 365.13233657286247, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 88.7784828849828, + 362.53426036150915, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 87.2784828849828, + 359.93618415015584, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 85.7784828849828, + 357.3381079388025, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 84.2784828849828, + 354.7400317274492, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 82.7784828849828, + 352.1419555160959, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 81.2784828849828, + 349.5438793047426, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 79.7784828849828, + 346.94580309338926, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 78.2784828849828, + 344.34772688203594, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 76.7784828849828, + 341.7496506706826, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 75.2784828849828, + 339.1515744593293, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 73.7784828849828, + 336.553498247976, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 72.2784828849828, + 333.9554220366227, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 70.7784828849828, + 331.35734582526936, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 69.2784828849828, + 328.75926961391605, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 67.7784828849828, + 326.16119340256273, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 66.2784828849828, + 323.5631171912094, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 64.7784828849828, + 320.9650409798561, + -2.077734507577592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + 63.27848288498279, + 318.3669647685028, + -2.077734507577592 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-7-25_1982275856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-7-25_1982275856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0dd6fcc47fe1471f2d034c4f79285e4cde6cf18 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_2-7-25_1982275856/pose.jsonl @@ -0,0 +1,1385 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -719.7495703489744, + 791.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -717.1514941376211, + 790.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -714.5534179262677, + 788.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -711.9553417149143, + 787.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -709.3572655035609, + 785.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.7591892922076, + 784.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -704.1611130808542, + 782.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -701.5630368695008, + 781.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -698.9649606581474, + 779.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -696.3668844467941, + 778.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -693.7688082354407, + 776.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -691.1707320240873, + 775.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -688.572655812734, + 773.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -685.9745796013806, + 772.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -683.3765033900272, + 770.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -680.7784271786738, + 769.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -678.1803509673205, + 767.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -675.5822747559671, + 766.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.9841985446137, + 764.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.3861223332603, + 763.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -667.788046121907, + 761.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -665.1899699105536, + 760.2892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -662.5918936992002, + 758.7892025376234, + -5.814210201212752 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -662.5918936992002, + 758.7892025376234, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -661.0918936992002, + 756.19112632627, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -659.5918936992002, + 753.5930501149167, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -658.0918936992002, + 750.9949739035633, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -656.5918936992002, + 748.3968976922099, + -5.814210201212752 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -655.0918936992002, + 745.7988214808565, + -5.814210201212752 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-17_233665123/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-17_233665123/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52a53ca5e1ee549f7659da30d761522be903593a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-14-17_233665123/pose.jsonl @@ -0,0 +1,1631 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -669.3902804798511, + 71.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -669.3902804798511, + 74.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -669.3902804798511, + 77.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -669.3902804798511, + 80.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -669.3902804798511, + 83.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -669.3902804798511, + 86.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.3902804798511, + 89.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -669.3902804798511, + 92.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -669.3902804798511, + 95.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -669.3902804798511, + 98.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.3902804798511, + 101.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -669.3902804798511, + 104.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.3902804798511, + 107.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -669.3902804798511, + 110.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -669.3902804798511, + 113.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -669.3902804798511, + 116.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.3902804798511, + 119.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -669.3902804798511, + 122.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -669.3902804798511, + 125.72745358821453, + -20.10873247807058 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -669.3902804798511, + 125.72745358821453, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.8902804798511, + 128.32552979956785, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.3902804798511, + 130.92360601092116, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -673.8902804798511, + 133.52168222227448, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -675.3902804798511, + 136.1197584336278, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.8902804798511, + 138.7178346449811, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.3902804798511, + 141.31591085633443, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -679.8902804798511, + 143.91398706768774, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.3902804798511, + 146.51206327904106, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -682.8902804798511, + 149.11013949039437, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -684.3902804798511, + 151.7082157017477, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -685.8902804798511, + 154.306291913101, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.3902804798511, + 156.90436812445432, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -688.8902804798511, + 159.50244433580764, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -690.3902804798511, + 162.10052054716095, + -20.10873247807058 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -691.8902804798511, + 164.69859675851427, + -20.10873247807058 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-15-19_1101513929/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-15-19_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76f90bf64d6fe1db28a71759fa2081593659139c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-15-19_1101513929/pose.jsonl @@ -0,0 +1,1255 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.2596203717015, + 445.39192414493124, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -730.7596203717015, + 447.99000035628455, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.2596203717015, + 450.58807656763787, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -727.7596203717015, + 453.1861527789912, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -726.2596203717015, + 455.7842289903445, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -724.7596203717015, + 458.3823052016978, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -723.2596203717015, + 460.98038141305113, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -721.7596203717015, + 463.57845762440445, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.2596203717015, + 466.17653383575777, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.7596203717015, + 468.7746100471111, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -717.2596203717015, + 471.3726862584644, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -715.7596203717015, + 473.9707624698177, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.2596203717015, + 476.56883868117103, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -712.7596203717015, + 479.16691489252435, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -711.2596203717015, + 481.76499110387766, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.7596203717015, + 484.363067315231, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -708.2596203717015, + 486.9611435265843, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -706.7596203717015, + 489.5592197379376, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.2596203717015, + 492.1572959492909, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -703.7596203717015, + 494.75537216064424, + -3.2546211610697178 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.7596203717015, + 494.75537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -701.1615441603483, + 496.25537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -698.5634679489949, + 497.75537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -695.9653917376415, + 499.25537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.3673155262882, + 500.75537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -690.7692393149348, + 502.25537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -688.1711631035814, + 503.75537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.573086892228, + 505.25537216064424, + -3.2546211610697178 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -682.9750106808747, + 506.75537216064424, + -3.2546211610697178 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-38_1369133069/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-38_1369133069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc9b33404e1cbcffe4ee864b36f71beb0d3ae0f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-16-38_1369133069/pose.jsonl @@ -0,0 +1,727 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -514.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -517.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -520.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -523.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -526.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -529.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -532.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -535.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -538.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -541.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -544.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -547.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -550.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -553.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -559.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -562.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -565.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -568.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -571.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -574.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -577.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -580.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -583.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -586.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -589.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -592.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -595.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -598.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -598.891693646789, + 472.78523750521055, + -27.070100625147354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -601.4897698581424, + 471.28523750521055, + -27.070100625147354 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-17-53_628175011/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-17-53_628175011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7555b8904d3a5ea5f61230b45e652a1754e8dc83 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-17-53_628175011/pose.jsonl @@ -0,0 +1,1229 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 9.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 12.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 15.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 18.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 21.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 24.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 27.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 30.295865566139753, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 33.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 36.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 39.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 42.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.29586556613975, + 323.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 47.89394177749307, + 322.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 50.492017988846385, + 320.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 53.0900942001997, + 319.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 55.68817041155302, + 317.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 58.28624662290633, + 316.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 60.88432283425965, + 314.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 63.482399045612965, + 313.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 66.08047525696628, + 311.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 68.6785514683196, + 310.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 71.27662767967291, + 308.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 73.87470389102623, + 307.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 76.47278010237955, + 305.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 79.07085631373286, + 304.00490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 81.66893252508618, + 302.50490330825437, + -28.999156732602263 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 84.2670087364395, + 301.00490330825437, + -28.999156732602263 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 132.49260902404785, + 258.68814849853516, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-30_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-30_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c35caffce7da4f6483786b5281661e7c3fc6b8c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-30_1131176229/pose.jsonl @@ -0,0 +1,1183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -673.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -667.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -664.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -661.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -658.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -655.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -652.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -649.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -646.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -643.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -640.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -634.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -631.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -628.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -625.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -619.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -616.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -613.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -610.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -607.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -607.9275992239656, + 399.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -605.3295230126123, + 397.727085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -602.7314468012589, + 396.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -600.1333705899056, + 394.727085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -597.5352943785522, + 393.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -594.9372181671988, + 391.727085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -592.3391419558454, + 390.227085391511, + -16.278971435081715 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -592.3391419558454, + 390.227085391511, + -16.278971435081715 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -589.3391419558454, + 390.227085391511, + -16.278971435081715 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-50_1653377373/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-50_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5685f862ce7143963b35cb75a0797e4c467d7b68 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-18-50_1653377373/pose.jsonl @@ -0,0 +1,1186 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -816.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -813.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -810.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -807.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -804.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -801.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -798.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -795.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -792.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -789.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -786.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -783.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -780.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -777.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -774.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -774.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -774.2515707908736, + 730.5425078607105, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -772.7515707908736, + 733.1405840720638, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -771.2515707908736, + 735.7386602834172, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -769.7515707908736, + 738.3367364947705, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -768.2515707908736, + 740.9348127061239, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -766.7515707908736, + 743.5328889174773, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.2515707908736, + 746.1309651288307, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -763.7515707908736, + 748.729041340184, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -762.2515707908736, + 751.3271175515374, + -7.207948236464208 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -762.2515707908736, + 751.3271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -759.6534945795204, + 752.8271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -757.055418368167, + 754.3271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -754.4573421568136, + 755.8271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -751.8592659454603, + 757.3271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -749.2611897341069, + 758.8271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -746.6631135227535, + 760.3271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -744.0650373114001, + 761.8271175515374, + -7.207948236464208 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -741.4669611000468, + 763.3271175515374, + -7.207948236464208 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-59_135497281/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-59_135497281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0dd8261b125c4f568b132177c49da6f55870a8bb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-24-59_135497281/pose.jsonl @@ -0,0 +1,1586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -605.2893660920677, + 665.5734042090085, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -606.7893660920677, + 668.1714804203618, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -608.2893660920677, + 670.7695566317152, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -609.7893660920677, + 673.3676328430686, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -611.2893660920677, + 675.965709054422, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -612.7893660920677, + 678.5637852657753, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -614.2893660920677, + 681.1618614771287, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -615.7893660920677, + 683.7599376884821, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -617.2893660920677, + 686.3580138998354, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -618.7893660920677, + 688.9560901111888, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -620.2893660920677, + 691.5541663225422, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -621.7893660920677, + 694.1522425338956, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -623.2893660920677, + 696.7503187452489, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -624.7893660920677, + 699.3483949566023, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -626.2893660920677, + 701.9464711679557, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.7893660920677, + 704.544547379309, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -629.2893660920677, + 707.1426235906624, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -630.7893660920677, + 709.7406998020158, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -632.2893660920677, + 712.3387760133692, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -633.7893660920677, + 714.9368522247225, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -635.2893660920677, + 717.5349284360759, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.7893660920677, + 720.1330046474293, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.2893660920677, + 722.7310808587827, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.7893660920677, + 725.329157070136, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -641.2893660920677, + 727.9272332814894, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.7893660920677, + 730.5253094928428, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -644.2893660920677, + 733.1233857041962, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -645.7893660920677, + 735.7214619155495, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -647.2893660920677, + 738.3195381269029, + -28.108160917936726 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -647.2893660920677, + 738.3195381269029, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -649.887442303421, + 739.8195381269029, + -28.108160917936726 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -652.4855185147744, + 741.3195381269029, + -28.108160917936726 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-25-19_511702305/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-25-19_511702305/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68bcfe1c5ea9ffdad847ce9df1426fdbd3fbc233 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-25-19_511702305/pose.jsonl @@ -0,0 +1,980 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -507.2637319025783, + 498.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -507.2637319025783, + 495.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -507.2637319025783, + 492.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -507.2637319025783, + 489.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -507.2637319025783, + 486.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -507.2637319025783, + 483.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -507.2637319025783, + 480.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -507.2637319025783, + 477.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -507.2637319025783, + 474.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -507.2637319025783, + 471.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -507.2637319025783, + 468.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -507.2637319025783, + 465.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -507.2637319025783, + 462.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -507.2637319025783, + 459.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -507.2637319025783, + 456.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -507.2637319025783, + 453.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -507.2637319025783, + 450.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -507.2637319025783, + 447.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -507.2637319025783, + 444.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -507.2637319025783, + 441.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -507.2637319025783, + 438.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -507.2637319025783, + 435.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -507.2637319025783, + 432.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -507.2637319025783, + 429.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -507.2637319025783, + 426.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -507.2637319025783, + 423.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -507.2637319025783, + 420.9935322199605, + -3.1408601686767383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -507.2637319025783, + 417.9935322199605, + -3.1408601686767383 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-28-38_1141616124/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-28-38_1141616124/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3334ae952b35df04fde6785ac633466f80c6b83 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-28-38_1141616124/pose.jsonl @@ -0,0 +1,880 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 127.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + 121.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + 118.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + 115.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + 112.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + 106.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + 103.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + 100.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + 97.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + 94.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + 91.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + 88.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + 85.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + 82.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + 79.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + 73.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + 67.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 64.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 61.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 55.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + 52.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + 49.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + 46.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + 43.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + 40.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + 40.60312536664709, + 414.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + 38.005049155293776, + 412.54330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 35.40697294394046, + 411.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 32.808896732587144, + 409.54330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 30.210820521233828, + 408.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 27.61274430988051, + 406.54330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 25.014668098527196, + 405.04330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 22.41659188717388, + 403.54330701577277, + -6.4945005061040035 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 19.818515675820564, + 402.04330701577277, + -6.4945005061040035 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-30-24_1548233367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-30-24_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef1cb580879d7fa6247ede3ecbff36002dcc195b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-30-24_1548233367/pose.jsonl @@ -0,0 +1,1509 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.361433666992, + 331.48072180170294, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -582.861433666992, + 328.8826455903496, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -581.361433666992, + 326.2845693789963, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -579.861433666992, + 323.686493167643, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -578.361433666992, + 321.0884169562897, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -576.861433666992, + 318.49034074493636, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -575.361433666992, + 315.89226453358305, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -573.861433666992, + 313.29418832222973, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -572.361433666992, + 310.6961121108764, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -570.861433666992, + 308.0980358995231, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -569.361433666992, + 305.4999596881698, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -567.861433666992, + 302.90188347681647, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -566.361433666992, + 300.30380726546315, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -564.861433666992, + 297.70573105410983, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -563.361433666992, + 295.1076548427565, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -561.861433666992, + 292.5095786314032, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -560.361433666992, + 289.9115024200499, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -558.861433666992, + 287.31342620869657, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -557.361433666992, + 284.71534999734325, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -555.861433666992, + 282.11727378598994, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -554.361433666992, + 279.5191975746366, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -552.861433666992, + 276.9211213632833, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -551.361433666992, + 274.32304515193, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -549.861433666992, + 271.7249689405767, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -548.361433666992, + 269.12689272922336, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -546.861433666992, + 266.52881651787004, + -2.7074300886080316 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -546.861433666992, + 266.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -544.2633574556387, + 265.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -541.6652812442853, + 263.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -539.067205032932, + 262.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -536.4691288215786, + 260.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -533.8710526102252, + 259.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -531.2729763988718, + 257.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -528.6749001875185, + 256.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -526.0768239761651, + 254.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -523.4787477648117, + 253.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -520.8806715534583, + 251.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -518.282595342105, + 250.02881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -515.6845191307516, + 248.52881651787004, + -2.7074300886080316 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 39, + "pos": [ + -513.0864429193982, + 247.02881651787004, + -2.7074300886080316 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-37-29_855636226/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-37-29_855636226/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9641f3a64c9849fbe595870220f383bfeb12e0f8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-37-29_855636226/pose.jsonl @@ -0,0 +1,1599 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -645.8131606384645, + 615.1278705746487, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -644.3131606384645, + 617.7259467860019, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -642.8131606384645, + 620.3240229973553, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -641.3131606384645, + 622.9220992087087, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -639.8131606384645, + 625.5201754200621, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -638.3131606384645, + 628.1182516314154, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -636.8131606384645, + 630.7163278427688, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -635.3131606384645, + 633.3144040541222, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -633.8131606384645, + 635.9124802654756, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -632.3131606384645, + 638.5105564768289, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -630.8131606384645, + 641.1086326881823, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -629.3131606384645, + 643.7067088995357, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.8131606384645, + 646.304785110889, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -626.3131606384645, + 648.9028613222424, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -624.8131606384645, + 651.5009375335958, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -623.3131606384645, + 654.0990137449492, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -621.8131606384645, + 656.6970899563025, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -620.3131606384645, + 659.2951661676559, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -618.8131606384645, + 661.8932423790093, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -617.3131606384645, + 664.4913185903627, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -615.8131606384645, + 667.089394801716, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -614.3131606384645, + 669.6874710130694, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -612.8131606384645, + 672.2855472244228, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -611.3131606384645, + 674.8836234357761, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -609.8131606384645, + 677.4816996471295, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -608.3131606384645, + 680.0797758584829, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -606.8131606384645, + 682.6778520698363, + -16.07990302755922 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -606.8131606384645, + 682.6778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -604.2150844271112, + 684.1778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -601.6170082157578, + 685.6778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -599.0189320044044, + 687.1778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -596.420855793051, + 688.6778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -593.8227795816977, + 690.1778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -591.2247033703443, + 691.6778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -588.6266271589909, + 693.1778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -586.0285509476375, + 694.6778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -583.4304747362842, + 696.1778520698363, + -16.07990302755922 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -583.4304747362842, + 696.1778520698363, + -16.07990302755922 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -581.9304747362842, + 698.7759282811896, + -16.07990302755922 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-38-12_1469348094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-38-12_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..276da6c1e99f2007b145009d736581a9dda61caf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-38-12_1469348094/pose.jsonl @@ -0,0 +1,910 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -0.6469449003383172, + 16.68278081931946, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -0.646944900338317, + 13.682780819319461, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -0.6469449003383168, + 10.682780819319461, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -0.6469449003383165, + 7.682780819319461, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -0.6469449003383163, + 4.682780819319461, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -0.6469449003383161, + 1.6827808193194613, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -0.6469449003383159, + -1.3172191806805387, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -0.6469449003383156, + -4.317219180680539, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -0.6469449003383154, + -7.317219180680539, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -0.6469449003383152, + -10.317219180680539, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -0.646944900338315, + -13.317219180680539, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -0.6469449003383148, + -16.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -0.6469449003383145, + -19.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -0.6469449003383143, + -22.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -0.6469449003383141, + -25.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -0.6469449003383139, + -28.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -0.6469449003383136, + -31.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -0.6469449003383134, + -34.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -0.6469449003383132, + -37.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.646944900338313, + -40.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -0.6469449003383128, + -43.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -0.6469449003383125, + -46.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -0.6469449003383123, + -49.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -0.6469449003383121, + -52.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -0.6469449003383119, + -55.31721918068054, + -15.340198121412806 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -0.6469449003383119, + -55.31721918068054, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -2.146944900338311, + -57.915295392033855, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.64694490033831, + -60.51337160338717, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -5.146944900338309, + -63.11144781474049, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.646944900338308, + -65.7095240260938, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -8.146944900338308, + -68.30760023744712, + -15.340198121412806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -9.646944900338308, + -70.90567644880043, + -15.340198121412806 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -7.905702292919159, + -73.99054002761841, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-40-53_1376710097/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-40-53_1376710097/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc4bfeb2f750851dde8582dc0cb430f2a1e55e4e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-40-53_1376710097/pose.jsonl @@ -0,0 +1,1218 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -260.93653083616164, + 335.9486172754883, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -262.43653083616164, + 338.5466934868416, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -263.93653083616164, + 341.1447696981949, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -265.43653083616164, + 343.74284590954824, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -266.93653083616164, + 346.34092212090155, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -268.43653083616164, + 348.93899833225487, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -269.93653083616164, + 351.5370745436082, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -271.43653083616164, + 354.1351507549615, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -272.93653083616164, + 356.7332269663148, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.43653083616164, + 359.33130317766813, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -275.93653083616164, + 361.92937938902145, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -277.43653083616164, + 364.52745560037476, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -278.93653083616164, + 367.1255318117281, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -280.43653083616164, + 369.7236080230814, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -281.93653083616164, + 372.3216842344347, + -28.12321746653011 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -281.93653083616164, + 372.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -281.93653083616164, + 375.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -281.93653083616164, + 378.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -281.93653083616164, + 381.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -281.93653083616164, + 384.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -281.93653083616164, + 387.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -281.93653083616164, + 390.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.93653083616164, + 393.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -281.93653083616164, + 396.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -281.93653083616164, + 399.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -281.93653083616164, + 402.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -281.93653083616164, + 405.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -281.93653083616164, + 408.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -281.93653083616164, + 411.3216842344347, + -28.12321746653011 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -281.93653083616164, + 414.3216842344347, + -28.12321746653011 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-41-54_603570492/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-41-54_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24986ce883acbc7ff288010686e6ff4efa4cf2ee --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-41-54_603570492/pose.jsonl @@ -0,0 +1,1885 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -673.9135694161843, + 598.7312755394564, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -675.4135694161843, + 596.133199328103, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -676.9135694161843, + 593.5351231167497, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -678.4135694161843, + 590.9370469053963, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.9135694161843, + 588.3389706940429, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -681.4135694161843, + 585.7408944826896, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -682.9135694161843, + 583.1428182713362, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -684.4135694161843, + 580.5447420599828, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -685.9135694161843, + 577.9466658486294, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -687.4135694161843, + 575.3485896372761, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.9135694161843, + 572.7505134259227, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -690.4135694161843, + 570.1524372145693, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -691.9135694161843, + 567.554361003216, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -693.4135694161843, + 564.9562847918626, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.9135694161843, + 562.3582085805092, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -696.4135694161843, + 559.7601323691558, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -697.9135694161843, + 557.1620561578025, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -699.4135694161843, + 554.5639799464491, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -700.9135694161843, + 551.9659037350957, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.4135694161843, + 549.3678275237423, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.9135694161843, + 546.769751312389, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -705.4135694161843, + 544.1716751010356, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -706.9135694161843, + 541.5735988896822, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -708.4135694161843, + 538.9755226783288, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -709.9135694161843, + 536.3774464669755, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -711.4135694161843, + 533.7793702556221, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.9135694161843, + 531.1812940442687, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -714.4135694161843, + 528.5832178329154, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -715.9135694161843, + 525.985141621562, + -8.054980707995636 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -715.9135694161843, + 525.985141621562, + -8.054980707995636 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -715.9135694161843, + 525.985141621562, + -8.054980707995636 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897833 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -718.9135694161843, + 525.985141621562, + -8.054980707995636 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-44-17_1194953865/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-44-17_1194953865/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68bb86fba2de2f7970b64075ac0314d1781134b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-44-17_1194953865/pose.jsonl @@ -0,0 +1,910 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 76.15041832120123, + 78.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 76.15041832120123, + 75.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 76.15041832120123, + 72.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 76.15041832120123, + 69.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 76.15041832120123, + 66.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 76.15041832120123, + 63.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.15041832120123, + 60.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 76.15041832120123, + 57.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 76.15041832120123, + 54.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 76.15041832120123, + 51.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 76.15041832120123, + 48.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 76.15041832120123, + 45.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 76.15041832120123, + 42.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 76.15041832120123, + 39.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 76.15041832120123, + 36.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.15041832120123, + 33.83016534282166, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 76.15041832120123, + 30.830165342821658, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 76.15041832120123, + 27.830165342821658, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 76.15041832120123, + 24.830165342821658, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 76.15041832120123, + 21.830165342821658, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 76.15041832120123, + 18.830165342821658, + -20.79993560483144 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 76.15041832120123, + 18.830165342821658, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 74.65041832120123, + 16.232089131468342, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 73.15041832120123, + 13.634012920115026, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 71.65041832120123, + 11.03593670876171, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 70.15041832120123, + 8.437860497408394, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 68.65041832120123, + 5.839784286055078, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 67.15041832120123, + 3.241708074701762, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 65.65041832120123, + 0.6436318633484461, + -20.79993560483144 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 65.65041832120123, + 0.6436318633484461, + -20.79993560483144 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 65.65041832120123, + 0.6436318633484461, + -20.79993560483144 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 67.15041832120123, + -1.9544443480048699, + -20.79993560483144 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 66.97270059585571, + -5.523125380277634, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-54_270744729/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-54_270744729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88f9d2f41616b0431a60723551304cc7019243b3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-45-54_270744729/pose.jsonl @@ -0,0 +1,1426 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -677.7217543137144, + 533.8095193578476, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -676.2217543137144, + 536.407595569201, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -674.7217543137144, + 539.0056717805544, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.2217543137144, + 541.6037479919078, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -671.7217543137144, + 544.2018242032611, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -670.2217543137144, + 546.7999004146145, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -668.7217543137144, + 549.3979766259679, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -667.2217543137144, + 551.9960528373213, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.7217543137144, + 554.5941290486746, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -664.2217543137144, + 557.192205260028, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -662.7217543137144, + 559.7902814713814, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -648.0125312805176, + 566.9365558624268, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -661.2217543137144, + 562.3883576827347, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -659.7217543137144, + 564.9864338940881, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.2217543137144, + 567.5845101054415, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -656.7217543137144, + 570.1825863167949, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -655.2217543137144, + 572.7806625281482, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -653.7217543137144, + 575.3787387395016, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.2217543137144, + 577.976814950855, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -650.7217543137144, + 580.5748911622084, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -649.2217543137144, + 583.1729673735617, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -647.7217543137144, + 585.7710435849151, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -646.2217543137144, + 588.3691197962685, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -644.7217543137144, + 590.9671960076219, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.2217543137144, + 593.5652722189752, + -26.08388056276776 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -643.2217543137144, + 593.5652722189752, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -643.2217543137144, + 596.5652722189752, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -643.2217543137144, + 599.5652722189752, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -643.2217543137144, + 602.5652722189752, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -643.2217543137144, + 605.5652722189752, + -26.08388056276776 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -643.2217543137144, + 608.5652722189752, + -26.08388056276776 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-47-11_2007905771/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-47-11_2007905771/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8cd6c71c73194176b2aadc15b5ccd6cdc9a5076 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-47-11_2007905771/pose.jsonl @@ -0,0 +1,1075 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -510.2599664890534, + 184.85039251951054, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -511.7599664890534, + 187.44846873086385, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -513.2599664890533, + 190.04654494221717, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -514.7599664890533, + 192.64462115357048, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -516.2599664890533, + 195.2426973649238, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -517.7599664890533, + 197.84077357627712, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -519.2599664890533, + 200.43884978763043, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -520.7599664890533, + 203.03692599898375, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -522.2599664890533, + 205.63500221033706, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -523.7599664890533, + 208.23307842169038, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -525.2599664890533, + 210.8311546330437, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -526.7599664890533, + 213.429230844397, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -528.2599664890533, + 216.02730705575033, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -529.7599664890533, + 218.62538326710364, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -531.2599664890533, + 221.22345947845696, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -532.7599664890533, + 223.82153568981028, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -534.2599664890533, + 226.4196119011636, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -535.7599664890533, + 229.0176881125169, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -537.2599664890533, + 231.61576432387022, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -538.7599664890533, + 234.21384053522354, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -540.2599664890533, + 236.81191674657686, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -541.7599664890533, + 239.40999295793017, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -543.2599664890533, + 242.0080691692835, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -544.7599664890533, + 244.6061453806368, + -21.509585114366182 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -544.7599664890533, + 244.6061453806368, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -544.7599664890533, + 247.6061453806368, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -544.7599664890533, + 250.6061453806368, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -544.7599664890533, + 253.6061453806368, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -544.7599664890533, + 256.6061453806368, + -21.509585114366182 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -544.7599664890533, + 259.6061453806368, + -21.509585114366182 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-52-56_112805732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-52-56_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..464a7fd849e2542bae2d7c0858b887517f15f44b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-52-56_112805732/pose.jsonl @@ -0,0 +1,1061 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -331.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -334.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -337.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -340.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -343.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -346.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -349.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -352.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -355.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -358.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -361.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -364.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -367.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -370.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -373.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -376.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -379.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -382.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -385.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -388.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -391.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -394.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -397.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -400.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -403.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -403.2782164979188, + 29.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -405.8762927092721, + 31.130594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -408.4743689206254, + 32.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -411.0724451319787, + 34.130594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -413.67052134333204, + 35.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -416.26859755468536, + 37.130594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -418.8666737660387, + 38.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -421.464749977392, + 40.130594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -424.0628261887453, + 41.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -426.6609024000986, + 43.130594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -429.25897861145194, + 44.630594356579216, + -5.870099414975197 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -431.85705482280525, + 46.130594356579216, + -5.870099414975197 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -519.9884490966797, + 86.51605033874512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-36_289700723/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-36_289700723/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2fc1595ee9a8d63d02deffc2194d1afe712de277 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_20-56-36_289700723/pose.jsonl @@ -0,0 +1,1629 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -457.74997224590305, + 466.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -460.34804845725637, + 468.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -462.9461246686097, + 469.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -465.544200879963, + 471.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -468.1422770913163, + 472.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -470.74035330266963, + 474.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -473.33842951402295, + 475.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -475.93650572537626, + 477.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -478.5345819367296, + 478.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -481.1326581480829, + 480.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -483.7307343594362, + 481.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -486.3288105707895, + 483.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -488.92688678214284, + 484.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -491.52496299349616, + 486.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -494.1230392048495, + 487.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -496.7211154162028, + 489.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -499.3191916275561, + 490.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -501.9172678389094, + 492.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -504.51534405026274, + 493.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -507.11342026161606, + 495.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -509.7114964729694, + 496.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -512.3095726843227, + 498.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -514.907648895676, + 499.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -517.5057251070293, + 501.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -520.1038013183827, + 502.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -522.7018775297361, + 504.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -525.2999537410894, + 505.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -527.8980299524428, + 507.0645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -530.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -530.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -533.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -536.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -539.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -542.4961061637962, + 508.5645379535374, + -9.026415758602358 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-17_2147469841/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-17_2147469841/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf99a7c45fc9f42b2c802079bd293f8b85cfd37c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-0-17_2147469841/pose.jsonl @@ -0,0 +1,1302 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.4432098184325, + 367.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.4432098184325, + 364.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -621.4432098184325, + 361.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -621.4432098184325, + 358.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -621.4432098184325, + 355.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -621.4432098184325, + 352.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -621.4432098184325, + 349.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -621.4432098184325, + 346.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -621.4432098184325, + 343.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -621.4432098184325, + 340.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -621.4432098184325, + 337.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -621.4432098184325, + 334.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.4432098184325, + 331.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -621.4432098184325, + 328.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -621.4432098184325, + 325.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -621.4432098184325, + 322.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -621.4432098184325, + 319.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -621.4432098184325, + 316.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -621.4432098184325, + 313.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -621.4432098184325, + 310.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -621.4432098184325, + 307.904856771682, + -7.356993920893153 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -621.4432098184325, + 307.904856771682, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -622.9432098184325, + 305.30678056032866, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -624.4432098184325, + 302.70870434897535, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -625.9432098184325, + 300.11062813762203, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -627.4432098184325, + 297.5125519262687, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -628.9432098184325, + 294.9144757149154, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -630.4432098184325, + 292.3163995035621, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -631.9432098184325, + 289.71832329220877, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -633.4432098184325, + 287.12024708085545, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -634.9432098184325, + 284.52217086950213, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -636.4432098184325, + 281.9240946581488, + -7.356993920893153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -637.9432098184325, + 279.3260184467955, + -7.356993920893153 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-18_269441500/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-18_269441500/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b090d96a31339c6c9ff1a9db7ecfbcf1c684354 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-1-18_269441500/pose.jsonl @@ -0,0 +1,2091 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -528.0367370070747, + 496.97274152412217, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -526.5367370070747, + 499.5708177354755, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -525.0367370070747, + 502.1688939468288, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -523.5367370070747, + 504.7669701581821, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -522.0367370070747, + 507.36504636953543, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -520.5367370070747, + 509.96312258088875, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -519.0367370070747, + 512.5611987922421, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -517.5367370070747, + 515.1592750035954, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -516.0367370070747, + 517.7573512149488, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -514.5367370070747, + 520.3554274263022, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -513.0367370070747, + 522.9535036376556, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -511.53673700707475, + 525.5515798490089, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -510.03673700707475, + 528.1496560603623, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -508.53673700707475, + 530.7477322717157, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -507.03673700707475, + 533.345808483069, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -505.53673700707475, + 535.9438846944224, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -504.03673700707475, + 538.5419609057758, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -502.53673700707475, + 541.1400371171292, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -501.03673700707475, + 543.7381133284825, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -499.53673700707475, + 546.3361895398359, + -22.143548824415838 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -499.53673700707475, + 546.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -499.53673700707475, + 549.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -499.53673700707475, + 552.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -499.53673700707475, + 555.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -499.53673700707475, + 558.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -499.53673700707475, + 561.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -499.53673700707475, + 564.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -499.53673700707475, + 567.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -499.53673700707475, + 570.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -499.53673700707475, + 573.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -499.53673700707475, + 576.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -499.53673700707475, + 579.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -499.53673700707475, + 582.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -499.53673700707475, + 585.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -499.53673700707475, + 588.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -499.53673700707475, + 591.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -499.53673700707475, + 594.3361895398359, + -22.143548824415838 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -499.53673700707475, + 597.3361895398359, + -22.143548824415838 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-12-3_1784639529/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-12-3_1784639529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e21dfeb529f69da9f0363196f20f64fb4b5724e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-12-3_1784639529/pose.jsonl @@ -0,0 +1,1707 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -664.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -661.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -658.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -655.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -652.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -649.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -646.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -643.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -640.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -637.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -631.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -628.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -625.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -622.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -616.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -613.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -613.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -613.1974703996289, + 485.56404048516197, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -611.6974703996289, + 488.1621166965153, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -610.1974703996289, + 490.7601929078686, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -608.6974703996289, + 493.3582691192219, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -607.1974703996289, + 495.95634533057523, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -605.6974703996289, + 498.55442154192855, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -604.1974703996289, + 501.15249775328186, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -602.6974703996289, + 503.7505739646352, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -601.1974703996289, + 506.3486501759885, + -4.280920037573853 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -601.1974703996289, + 506.3486501759885, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -598.5993941882755, + 507.8486501759885, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -596.0013179769221, + 509.3486501759885, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -593.4032417655687, + 510.8486501759885, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -590.8051655542154, + 512.3486501759885, + -4.280920037573853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -588.207089342862, + 513.8486501759885, + -4.280920037573853 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-11_1504569917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-11_1504569917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..262c036952ef11d476ef741898fc64e3a7188fae --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-17-11_1504569917/pose.jsonl @@ -0,0 +1,1918 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -432.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -429.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -426.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -423.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -420.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -417.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -411.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -408.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -405.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -402.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -399.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -396.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -396.6028035516065, + 629.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -394.00472734025317, + 631.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -391.40665112889985, + 632.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -388.80857491754654, + 634.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -386.2104987061932, + 635.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -383.6124224948399, + 637.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -381.0143462834866, + 638.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -378.4162700721333, + 640.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -375.81819386077996, + 641.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -373.22011764942664, + 643.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -370.6220414380733, + 644.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -368.02396522672, + 646.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -365.4258890153667, + 647.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -362.8278128040134, + 649.3401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -360.22973659266006, + 650.8401427725013, + -25.187810420797636 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -357.63166038130674, + 652.3401427725013, + -25.187810420797636 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-20_480298490/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-20_480298490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..014188c8ccc018da8ef07028a158c45a46696f86 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-20_480298490/pose.jsonl @@ -0,0 +1,826 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -591.9661800702136, + 475.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -591.9661800702136, + 472.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -591.9661800702136, + 469.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -591.9661800702136, + 466.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -591.9661800702136, + 463.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -591.9661800702136, + 460.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -591.9661800702136, + 457.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.9661800702136, + 454.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -591.9661800702136, + 451.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -591.9661800702136, + 448.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -591.9661800702136, + 445.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -591.9661800702136, + 442.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -591.9661800702136, + 439.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -591.9661800702136, + 436.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -591.9661800702136, + 433.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -591.9661800702136, + 430.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -591.9661800702136, + 427.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -591.9661800702136, + 424.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -591.9661800702136, + 421.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -591.9661800702136, + 418.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -591.9661800702136, + 415.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -591.9661800702136, + 412.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -591.9661800702136, + 409.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -591.9661800702136, + 406.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -591.9661800702136, + 403.93852971374963, + -13.413464991027755 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -591.9661800702136, + 403.93852971374963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -590.4661800702136, + 401.3404535023963, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -588.9661800702136, + 398.742377291043, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -587.4661800702136, + 396.1443010796897, + -13.413464991027755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -585.9661800702136, + 393.54622486833637, + -13.413464991027755 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-38_1398295499/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-38_1398295499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90507dc16e33cd9ca7061b8d4e5dacd72dbf16cb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-19-38_1398295499/pose.jsonl @@ -0,0 +1,2142 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.5853768674832, + 401.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -763.5853768674832, + 404.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -763.5853768674832, + 407.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -763.5853768674832, + 410.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -763.5853768674832, + 413.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -763.5853768674832, + 416.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.5853768674832, + 419.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -763.5853768674832, + 422.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.5853768674832, + 425.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -763.5853768674832, + 428.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.5853768674832, + 431.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.5853768674832, + 434.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.5853768674832, + 437.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.5853768674832, + 440.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -763.5853768674832, + 443.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -763.5853768674832, + 446.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -763.5853768674832, + 449.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.5853768674832, + 452.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -763.5853768674832, + 455.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -763.5853768674832, + 458.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -763.5853768674832, + 461.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -763.5853768674832, + 464.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -763.5853768674832, + 467.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -763.5853768674832, + 470.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -763.5853768674832, + 473.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -763.5853768674832, + 476.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -763.5853768674832, + 479.9044263439052, + -20.907364911352083 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.5853768674832, + 479.9044263439052, + -20.907364911352083 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -763.5853768674832, + 479.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -766.1834530788365, + 481.4044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -768.7815292901898, + 482.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -771.3796055015432, + 484.4044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -773.9776817128966, + 485.9044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -776.57575792425, + 487.4044263439052, + -20.907364911352083 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -776.57575792425, + 487.4044263439052, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -778.07575792425, + 490.0025025552585, + -20.907364911352083 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -862.5205917358398, + 518.8142490386963, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -779.57575792425, + 492.6005787666118, + -20.907364911352083 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -820.1165351867676, + 508.1861820220947, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-26-44_1034949299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-26-44_1034949299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c5118d3966aff84ac36eff55eb6522543ec5d66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-26-44_1034949299/pose.jsonl @@ -0,0 +1,826 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -552.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -555.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -558.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -561.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -564.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -567.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -570.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -573.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -576.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -579.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -582.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -585.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -588.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -591.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -594.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -597.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -600.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -600.4319847738706, + 776.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -603.0300609852238, + 777.9062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -605.6281371965772, + 779.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -608.2262134079306, + 780.9062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -610.824289619284, + 782.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -613.4223658306373, + 783.9062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -616.0204420419907, + 785.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -618.6185182533441, + 786.9062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -621.2165944646974, + 788.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -623.8146706760508, + 789.9062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -626.4127468874042, + 791.4062811387148, + -13.344760563886929 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -626.4127468874042, + 791.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -629.4127468874042, + 791.4062811387148, + -13.344760563886929 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -632.4127468874042, + 791.4062811387148, + -13.344760563886929 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-27-3_654887343/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-27-3_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ae71cb37063ba8ebbb7edfa1380d05c96b71241 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-27-3_654887343/pose.jsonl @@ -0,0 +1,1271 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -555.3629227617328, + 229.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -557.9609989730861, + 228.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -560.5590751844395, + 226.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -563.1571513957929, + 225.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -565.7552276071463, + 223.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -568.3533038184996, + 222.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -570.951380029853, + 220.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -573.5494562412064, + 219.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -576.1475324525597, + 217.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -578.7456086639131, + 216.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -581.3436848752665, + 214.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -583.9417610866199, + 213.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -586.5398372979732, + 211.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -589.1379135093266, + 210.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -591.73598972068, + 208.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -594.3340659320334, + 207.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -596.9321421433867, + 205.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -599.5302183547401, + 204.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -602.1282945660935, + 202.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -604.7263707774468, + 201.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -607.3244469888002, + 199.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -609.9225232001536, + 198.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -612.520599411507, + 196.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -615.1186756228603, + 195.30298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -617.7167518342137, + 193.80298147948895, + -17.076278042515703 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -617.7167518342137, + 193.80298147948895, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -619.2167518342137, + 191.20490526813563, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -620.7167518342137, + 188.60682905678232, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -622.2167518342137, + 186.008752845429, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -623.7167518342137, + 183.41067663407568, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -625.2167518342137, + 180.81260042272237, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -626.7167518342137, + 178.21452421136905, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -628.2167518342137, + 175.61644800001574, + -17.076278042515703 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -628.2167518342137, + 175.61644800001574, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -630.8148280455671, + 174.11644800001574, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -633.4129042569205, + 172.61644800001574, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -636.0109804682738, + 171.11644800001574, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -638.6090566796272, + 169.61644800001574, + -17.076278042515703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -641.2071328909806, + 168.11644800001574, + -17.076278042515703 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-3-37_1275373743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-3-37_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad0e7d47aec1b7924d59df9287a3a38ab536ee6c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-3-37_1275373743/pose.jsonl @@ -0,0 +1,1640 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -556.9450913940258, + 651.5711661525644, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -558.4450913940258, + 654.1692423639176, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -559.9450913940258, + 656.767318575271, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -561.4450913940258, + 659.3653947866244, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -562.9450913940258, + 661.9634709979778, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -564.4450913940258, + 664.5615472093311, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -565.9450913940258, + 667.1596234206845, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -567.4450913940258, + 669.7576996320379, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -568.9450913940258, + 672.3557758433913, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -570.4450913940258, + 674.9538520547446, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -571.9450913940258, + 677.551928266098, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -573.4450913940258, + 680.1500044774514, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -574.9450913940258, + 682.7480806888047, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -576.4450913940258, + 685.3461569001581, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -577.9450913940258, + 687.9442331115115, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -579.4450913940258, + 690.5423093228649, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -580.9450913940258, + 693.1403855342182, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -582.4450913940258, + 695.7384617455716, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -583.9450913940258, + 698.336537956925, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -585.4450913940258, + 700.9346141682784, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -586.9450913940258, + 703.5326903796317, + -6.018783318064891 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -586.9450913940258, + 703.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -589.543167605379, + 705.0326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -592.1412438167324, + 706.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -594.7393200280858, + 708.0326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -597.3373962394392, + 709.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -599.9354724507925, + 711.0326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -602.5335486621459, + 712.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -605.1316248734993, + 714.0326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -607.7297010848526, + 715.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -610.327777296206, + 717.0326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -612.9258535075594, + 718.5326903796317, + -6.018783318064891 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -615.5239297189128, + 720.0326903796317, + -6.018783318064891 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-33-45_552473416/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-33-45_552473416/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc589c39522afea9701e5adfee045e053e717789 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-33-45_552473416/pose.jsonl @@ -0,0 +1,1708 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -717.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -711.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -702.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -690.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -684.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -666.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -663.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -660.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -657.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -654.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -651.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -645.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -639.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -636.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -633.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -633.9590927818895, + 642.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -631.3610165705361, + 643.5884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -628.7629403591827, + 645.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -626.1648641478293, + 646.5884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -623.566787936476, + 648.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -620.9687117251226, + 649.5884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -618.3706355137692, + 651.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -615.7725593024159, + 652.5884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -613.1744830910625, + 654.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -610.5764068797091, + 655.5884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -607.9783306683557, + 657.0884363363355, + -3.7600536584046935 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -605.3802544570024, + 658.5884363363355, + -3.7600536584046935 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-35-34_1473442062/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-35-34_1473442062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..621690239dda73bbd50d267be62bb8f475f4af7f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-35-34_1473442062/pose.jsonl @@ -0,0 +1,1936 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -323.94295490028543, + 520.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -326.54103111163874, + 521.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -329.13910732299206, + 523.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -331.7371835343454, + 524.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -334.3352597456987, + 526.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -336.933335957052, + 527.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -339.5314121684053, + 529.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -342.12948837975864, + 530.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -344.72756459111196, + 532.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -347.3256408024653, + 533.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -349.9237170138186, + 535.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -352.5217932251719, + 536.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -355.1198694365252, + 538.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -357.71794564787854, + 539.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -360.31602185923185, + 541.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -362.91409807058517, + 542.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -365.5121742819385, + 544.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -368.1102504932918, + 545.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -370.7083267046451, + 547.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -373.30640291599843, + 548.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -375.90447912735175, + 550.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -378.50255533870506, + 551.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -381.1006315500584, + 553.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -383.6987077614117, + 554.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -386.296783972765, + 556.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -388.89486018411833, + 557.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -391.49293639547165, + 559.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -394.09101260682496, + 560.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.6890888181783, + 562.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -399.2871650295316, + 563.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -401.8852412408849, + 565.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -404.4833174522382, + 566.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -407.08139366359154, + 568.4673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -409.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -409.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -412.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -415.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -418.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -421.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -424.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -427.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -430.67946987494486, + 569.9673177619457, + -2.466911756907212 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-36-34_776532036/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-36-34_776532036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07f70992545a2a7ff00dfec6ee2a13a8854aab74 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-36-34_776532036/pose.jsonl @@ -0,0 +1,993 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -190.26958431759448, + 454.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -192.8676605289478, + 452.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -195.4657367403011, + 451.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -198.06381295165443, + 449.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -200.66188916300774, + 448.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -203.25996537436106, + 446.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -205.85804158571437, + 445.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -208.4561177970677, + 443.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -211.054194008421, + 442.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.65227021977432, + 440.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.25034643112764, + 439.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -218.84842264248095, + 437.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -221.44649885383427, + 436.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -224.0445750651876, + 434.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -226.6426512765409, + 433.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -229.24072748789422, + 431.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -231.83880369924753, + 430.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -234.43687991060085, + 428.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -237.03495612195417, + 427.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -239.63303233330748, + 425.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -242.2311085446608, + 424.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -244.82918475601412, + 422.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -247.42726096736743, + 421.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -250.02533717872075, + 419.94862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -252.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -252.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -255.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -258.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -261.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -264.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -267.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -270.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -273.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -276.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -279.62341339007406, + 418.44862520455376, + -29.86573011818295 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -325.696626663208, + 442.2461929321289, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -283.36651706695557, + 417.1455421447754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-6-33_971899228/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-6-33_971899228/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..918ffe985b0334e82b6f6f8a4e8d81d18116c16b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-6-33_971899228/pose.jsonl @@ -0,0 +1,1297 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -12.51254381691146, + 266.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.914467605558144, + 267.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -7.316391394204828, + 269.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.718315182851512, + 270.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -2.120238971498196, + 272.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 0.47783723985511983, + 273.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.075913451208436, + 275.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 5.673989662561752, + 276.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.272065873915068, + 278.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 10.870142085268384, + 279.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 13.4682182966217, + 281.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.066294507975016, + 282.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 18.664370719328332, + 284.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.262446930681648, + 285.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 23.860523142034964, + 287.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 26.45859935338828, + 288.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 29.056675564741596, + 290.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 31.654751776094912, + 291.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 34.25282798744823, + 293.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.850904198801544, + 294.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 39.44898041015486, + 296.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.047056621508176, + 297.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 44.64513283286149, + 299.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 47.24320904421481, + 300.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 49.841285255568124, + 302.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 52.43936146692144, + 303.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 55.037437678274756, + 305.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 57.63551388962807, + 306.52387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 86.22871541976929, + 301.40892124176025, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 60.23359010098139, + 308.02387740728153, + -23.81237609139725 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + 60.23359010098139, + 308.02387740728153, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 61.73359010098139, + 310.62195361863485, + -23.81237609139725 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + 63.23359010098139, + 313.22002982998816, + -23.81237609139725 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-7-31_1139901474/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-7-31_1139901474/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df991e1de12e843a1d2826ec21d00f21dd9a33f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-7-31_1139901474/pose.jsonl @@ -0,0 +1,1304 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -677.678694350763, + 753.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -680.2767705621163, + 751.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.8748467734697, + 750.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -685.4729229848231, + 748.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.0709991961764, + 747.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -690.6690754075298, + 745.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -693.2671516188832, + 744.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -695.8652278302366, + 742.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -698.4633040415899, + 741.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.0613802529433, + 739.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -703.6594564642967, + 738.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.25753267565, + 736.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.8556088870034, + 735.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.4536850983568, + 733.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.0517613097102, + 732.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -716.6498375210635, + 730.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -719.2479137324169, + 729.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -721.8459899437703, + 727.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.4440661551237, + 726.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.042142366477, + 724.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -729.6402185778304, + 723.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -732.2382947891838, + 721.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -734.8363710005372, + 720.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -737.4344472118905, + 718.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -740.0325234232439, + 717.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -742.6305996345973, + 715.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -745.2286758459506, + 714.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -747.826752057304, + 712.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -750.4248282686574, + 711.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -753.0229044800108, + 709.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -755.6209806913641, + 708.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -758.2190569027175, + 706.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -760.8171331140709, + 705.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -763.4152093254243, + 703.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -766.0132855367776, + 702.3106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -768.611361748131, + 700.8106696529733, + -21.16992492968677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -768.611361748131, + 700.8106696529733, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -770.111361748131, + 698.2125934416199, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -771.611361748131, + 695.6145172302665, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -773.111361748131, + 693.0164410189132, + -21.16992492968677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -774.611361748131, + 690.4183648075598, + -21.16992492968677 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -777.5475158691406, + 687.8394432067871, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-9-15_1884661237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-9-15_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..18a5c0286cf1ee677e4d5d36d43da8c32b41b2e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_21-9-15_1884661237/pose.jsonl @@ -0,0 +1,1443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -414.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -411.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -408.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -405.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -402.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -399.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -393.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -390.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -387.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -384.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -381.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -375.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -372.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -369.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -366.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -363.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -360.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -357.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -354.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -351.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -348.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -345.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -345.2831011447685, + 695.0823147716809, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.7831011447685, + 692.4842385603276, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -342.2831011447685, + 689.8861623489743, + -13.651143956817322 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -342.2831011447685, + 689.8861623489743, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -339.6850249334152, + 688.3861623489743, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -337.0869487220619, + 686.8861623489743, + -13.651143956817322 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -334.4888725107086, + 685.3861623489743, + -13.651143956817322 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-19-47_559412924/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-19-47_559412924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05f8e162e9e524a2d2cb01d9bdd6e9a1c4a29ed8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-19-47_559412924/pose.jsonl @@ -0,0 +1,1015 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -419.9143566934192, + -32.909652333292726, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -421.4143566934192, + -30.31157612193941, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -422.9143566934192, + -27.713499910586094, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -424.4143566934192, + -25.115423699232778, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -425.9143566934192, + -22.517347487879462, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -427.4143566934192, + -19.919271276526146, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -428.9143566934192, + -17.32119506517283, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -430.4143566934192, + -14.723118853819514, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -431.9143566934192, + -12.125042642466198, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -433.4143566934192, + -9.526966431112882, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -434.9143566934192, + -6.928890219759566, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -436.4143566934192, + -4.33081400840625, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -437.9143566934192, + -1.732737797052934, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -439.4143566934192, + 0.8653384143003819, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -440.9143566934192, + 3.463414625653698, + -16.99625387111739 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -440.9143566934192, + 3.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -440.9143566934192, + 6.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -440.9143566934192, + 9.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -440.9143566934192, + 12.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -440.9143566934192, + 15.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -440.9143566934192, + 18.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -440.9143566934192, + 21.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -440.9143566934192, + 24.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -440.9143566934192, + 27.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -440.9143566934192, + 30.463414625653698, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -440.9143566934192, + 33.4634146256537, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -440.9143566934192, + 36.4634146256537, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -440.9143566934192, + 39.4634146256537, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -440.9143566934192, + 42.4634146256537, + -16.99625387111739 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -440.9143566934192, + 42.4634146256537, + -16.99625387111739 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -440.9143566934192, + 42.4634146256537, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -438.3162804820659, + 43.9634146256537, + -16.99625387111739 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -435.7182042707126, + 45.4634146256537, + -16.99625387111739 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -434.32421112060547, + 48.821704387664795, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-29-43_407487131/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-29-43_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13c47295cdf23c5f5ebfdb81caf4abc795bc3c5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-29-43_407487131/pose.jsonl @@ -0,0 +1,1529 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -66.82879815213731, + 282.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -64.230721940784, + 284.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -61.63264572943068, + 285.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -59.03456951807736, + 287.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -56.436493306724046, + 288.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -53.83841709537073, + 290.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -51.240340884017414, + 291.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -48.6422646726641, + 293.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -46.04418846131078, + 294.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -43.446112249957466, + 296.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -40.84803603860415, + 297.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -38.249959827250834, + 299.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -35.65188361589752, + 300.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -33.0538074045442, + 302.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -30.455731193190886, + 303.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -27.85765498183757, + 305.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -25.259578770484254, + 306.7008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -22.661502559130938, + 308.2008601736659, + -13.538499942476061 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 64.20489478111267, + 315.8366947174072, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -22.661502559130938, + 308.2008601736659, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -21.161502559130938, + 310.7989363850192, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -19.661502559130938, + 313.3970125963725, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -18.161502559130938, + 315.99508880772584, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -16.661502559130938, + 318.59316501907915, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.161502559130938, + 321.19124123043247, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -13.661502559130938, + 323.7893174417858, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -12.161502559130938, + 326.3873936531391, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -10.661502559130938, + 328.9854698644924, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -9.161502559130938, + 331.58354607584573, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.661502559130938, + 334.18162228719905, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -6.161502559130938, + 336.77969849855236, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -4.661502559130938, + 339.3777747099057, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -3.161502559130937, + 341.975850921259, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -1.6615025591309367, + 344.5739271326123, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -0.16150255913093625, + 347.1720033439656, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 1.3384974408690642, + 349.77007955531894, + -13.538499942476061 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 2.8384974408690646, + 352.36815576667226, + -13.538499942476061 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-32-37_711845894/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-32-37_711845894/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20a43181df00c068bf5379ec019fdaff96d9ee91 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-32-37_711845894/pose.jsonl @@ -0,0 +1,1314 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -376.8308471624145, + 620.424624709756, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -379.4289233737678, + 618.924624709756, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -382.02699958512113, + 617.424624709756, + -4.067117702008577 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -382.02699958512113, + 617.424624709756, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -383.52699958512113, + 614.8265484984026, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -385.02699958512113, + 612.2284722870493, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -386.52699958512113, + 609.6303960756959, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -388.02699958512113, + 607.0323198643425, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -389.52699958512113, + 604.4342436529892, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -391.02699958512113, + 601.8361674416358, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -392.52699958512113, + 599.2380912302824, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -394.02699958512113, + 596.640015018929, + -4.067117702008577 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -394.02699958512113, + 596.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -394.02699958512113, + 593.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -394.02699958512113, + 590.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -394.02699958512113, + 587.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -394.02699958512113, + 584.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -394.02699958512113, + 581.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -394.02699958512113, + 578.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -394.02699958512113, + 575.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -394.02699958512113, + 572.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -394.02699958512113, + 569.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -394.02699958512113, + 566.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -394.02699958512113, + 563.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -394.02699958512113, + 560.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -394.02699958512113, + 557.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -394.02699958512113, + 554.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -394.02699958512113, + 551.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -394.02699958512113, + 548.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -394.02699958512113, + 545.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -394.02699958512113, + 542.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -394.02699958512113, + 539.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -394.02699958512113, + 536.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -394.02699958512113, + 533.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -394.02699958512113, + 530.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -394.02699958512113, + 527.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -394.02699958512113, + 524.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -394.02699958512113, + 521.640015018929, + -4.067117702008577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -394.02699958512113, + 518.640015018929, + -4.067117702008577 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-39-18_1472713773/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-39-18_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..712036f48ef4ad53c5a3f4122971fe2884db227a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-39-18_1472713773/pose.jsonl @@ -0,0 +1,1345 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -568.8847106703605, + 656.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -568.8847106703605, + 653.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -568.8847106703605, + 650.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -568.8847106703605, + 647.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -568.8847106703605, + 644.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -568.8847106703605, + 641.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.8847106703605, + 638.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -568.8847106703605, + 635.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -568.8847106703605, + 632.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -568.8847106703605, + 629.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -568.8847106703605, + 626.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -568.8847106703605, + 623.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -568.8847106703605, + 620.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -568.8847106703605, + 617.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -568.8847106703605, + 614.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -568.8847106703605, + 611.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -568.8847106703605, + 608.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -568.8847106703605, + 605.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -568.8847106703605, + 602.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -568.8847106703605, + 599.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -568.8847106703605, + 596.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -568.8847106703605, + 593.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -568.8847106703605, + 590.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -568.8847106703605, + 587.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -568.8847106703605, + 584.1883442403894, + -16.39397944532363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -568.8847106703605, + 584.1883442403894, + -16.39397944532363 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -568.8847106703605, + 584.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -566.2866344590072, + 582.6883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -563.6885582476539, + 581.1883442403894, + -16.39397944532363 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -563.6885582476539, + 581.1883442403894, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -562.1885582476539, + 578.590268029036, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -560.6885582476539, + 575.9921918176826, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -559.1885582476539, + 573.3941156063293, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -557.6885582476539, + 570.7960393949759, + -16.39397944532363 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -556.1885582476539, + 568.1979631836225, + -16.39397944532363 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-54-4_995706887/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-54-4_995706887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66dd16e0f99c1316712c140560c713a062e66279 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_3-54-4_995706887/pose.jsonl @@ -0,0 +1,1532 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.7455869177649, + 695.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.3436631291181, + 696.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -582.9417393404715, + 698.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -585.5398155518249, + 699.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -588.1378917631782, + 701.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -590.7359679745316, + 702.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -593.334044185885, + 704.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -595.9321203972384, + 705.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -598.5301966085917, + 707.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.1282728199451, + 708.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -603.7263490312985, + 710.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -606.3244252426518, + 711.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -608.9225014540052, + 713.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -611.5205776653586, + 714.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -614.118653876712, + 716.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -616.7167300880653, + 717.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -619.3148062994187, + 719.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -621.9128825107721, + 720.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -624.5109587221255, + 722.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -627.1090349334788, + 723.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -629.7071111448322, + 725.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -632.3051873561856, + 726.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.9032635675389, + 728.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.5013397788923, + 729.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.0994159902457, + 731.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.6974922015991, + 732.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -645.2955684129524, + 734.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -647.8936446243058, + 735.6528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -650.4917208356592, + 737.1528123364197, + -20.78000866840532 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -650.4917208356592, + 737.1528123364197, + -20.78000866840532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -651.9917208356592, + 739.750888547773, + -20.78000866840532 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-12-9_1065311705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-12-9_1065311705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c2ff6180c94c873bc3d94af536076d182379100 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-12-9_1065311705/pose.jsonl @@ -0,0 +1,990 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -362.7020643545002, + 462.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -362.7020643545002, + 459.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -362.7020643545002, + 456.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -362.7020643545002, + 453.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -362.7020643545002, + 450.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -362.7020643545002, + 447.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -362.7020643545002, + 444.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -362.7020643545002, + 441.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -362.7020643545002, + 438.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -362.7020643545002, + 435.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -362.7020643545002, + 432.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -362.7020643545002, + 429.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -362.7020643545002, + 426.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -362.7020643545002, + 423.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -362.7020643545002, + 420.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -362.7020643545002, + 417.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -362.7020643545002, + 414.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -362.7020643545002, + 411.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -362.7020643545002, + 408.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -362.7020643545002, + 405.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.7020643545002, + 402.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -362.7020643545002, + 399.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -362.7020643545002, + 396.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -362.7020643545002, + 393.5621614496061, + -27.025507326657337 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -362.7020643545002, + 393.5621614496061, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -361.2020643545002, + 390.9640852382528, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -359.7020643545002, + 388.36600902689946, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -358.2020643545002, + 385.76793281554615, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -356.7020643545002, + 383.16985660419283, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -355.2020643545002, + 380.5717803928395, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -353.7020643545002, + 377.9737041814862, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -352.2020643545002, + 375.3756279701329, + -27.025507326657337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -350.7020643545002, + 372.77755175877957, + -27.025507326657337 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-27-37_1046741222/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-27-37_1046741222/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa56b39d1d525df690391e1315288a9e73039f81 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-27-37_1046741222/pose.jsonl @@ -0,0 +1,1981 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -550.3853109014437, + 389.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -550.3853109014437, + 392.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -550.3853109014437, + 395.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -550.3853109014437, + 398.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -550.3853109014437, + 401.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -550.3853109014437, + 404.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -550.3853109014437, + 407.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -550.3853109014437, + 410.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -550.3853109014437, + 413.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -550.3853109014437, + 416.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -550.3853109014437, + 419.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -550.3853109014437, + 422.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -550.3853109014437, + 425.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -550.3853109014437, + 428.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -550.3853109014437, + 431.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -550.3853109014437, + 434.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -550.3853109014437, + 437.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -550.3853109014437, + 440.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -550.3853109014437, + 443.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -550.3853109014437, + 446.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -550.3853109014437, + 449.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -550.3853109014437, + 452.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -550.3853109014437, + 455.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -550.3853109014437, + 458.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -550.3853109014437, + 461.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -550.3853109014437, + 464.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -550.3853109014437, + 467.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -550.3853109014437, + 470.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -550.3853109014437, + 473.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -550.3853109014437, + 476.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -550.3853109014437, + 479.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -550.3853109014437, + 482.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -550.3853109014437, + 485.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -550.3853109014437, + 488.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -550.3853109014437, + 491.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -550.3853109014437, + 494.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -550.3853109014437, + 497.14506102457784, + -4.616283010075399 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -550.3853109014437, + 497.14506102457784, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -548.8853109014437, + 499.74313723593116, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -547.3853109014437, + 502.3412134472845, + -4.616283010075399 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -545.8853109014437, + 504.9392896586378, + -4.616283010075399 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-29-59_1343606042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-29-59_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..89a10895a8c0311e57b655bab073b81772220c41 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-29-59_1343606042/pose.jsonl @@ -0,0 +1,1359 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -634.5347807099436, + 63.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -634.5347807099436, + 66.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -634.5347807099436, + 69.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -634.5347807099436, + 72.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.5347807099436, + 75.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -634.5347807099436, + 78.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -634.5347807099436, + 81.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -634.5347807099436, + 84.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -634.5347807099436, + 87.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -634.5347807099436, + 90.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -634.5347807099436, + 93.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -634.5347807099436, + 96.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -634.5347807099436, + 99.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -634.5347807099436, + 102.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -634.5347807099436, + 105.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -634.5347807099436, + 108.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -634.5347807099436, + 111.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -634.5347807099436, + 114.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -634.5347807099436, + 117.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -634.5347807099436, + 120.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.5347807099436, + 123.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -634.5347807099436, + 126.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.5347807099436, + 129.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -634.5347807099436, + 132.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -634.5347807099436, + 135.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.5347807099436, + 138.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -634.5347807099436, + 141.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -634.5347807099436, + 144.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -634.5347807099436, + 147.22251854440435, + -28.72620282951595 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -634.5347807099436, + 147.22251854440435, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -636.0347807099436, + 149.82059475575767, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -637.5347807099436, + 152.41867096711098, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -639.0347807099436, + 155.0167471784643, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -640.5347807099436, + 157.61482338981762, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -642.0347807099436, + 160.21289960117093, + -28.72620282951595 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -643.5347807099436, + 162.81097581252425, + -28.72620282951595 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-47-27_105575579/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-47-27_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ab00624a71e3646e627cbdbc14a9a08f4fdcc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-47-27_105575579/pose.jsonl @@ -0,0 +1,1502 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -825.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -818.838436126709, + 605.0398750305176, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -822.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -819.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -816.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -813.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -810.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -798.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -795.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -792.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -786.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -780.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -774.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -771.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -762.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -762.8052298273009, + 600.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.2162246704102, + 580.9384593963623, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -760.2071536159476, + 602.0319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -757.6090774045942, + 603.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -755.0110011932409, + 605.0319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -752.4129249818875, + 606.5319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -749.8148487705341, + 608.0319026443157, + -9.47111767104009 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -747.2167725591808, + 609.5319026443157, + -9.47111767104009 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-9-1_1950955939/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-9-1_1950955939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e03b502e8293887c8f65d6c21ca3b521de67985c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_4-9-1_1950955939/pose.jsonl @@ -0,0 +1,1170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -400.71703810778587, + 23.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -400.71703810778587, + 26.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -400.71703810778587, + 29.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -400.71703810778587, + 32.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -400.71703810778587, + 35.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -400.71703810778587, + 38.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -400.71703810778587, + 41.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -400.71703810778587, + 44.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -400.71703810778587, + 47.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -400.71703810778587, + 50.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -400.71703810778587, + 53.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -400.71703810778587, + 56.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -400.71703810778587, + 59.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -400.71703810778587, + 62.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -400.71703810778587, + 65.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -400.71703810778587, + 68.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -400.71703810778587, + 71.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -400.71703810778587, + 74.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -400.71703810778587, + 77.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -400.71703810778587, + 80.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -400.71703810778587, + 83.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -400.71703810778587, + 86.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -400.71703810778587, + 89.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -400.71703810778587, + 92.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -400.71703810778587, + 95.94244919458501, + -24.896762625713613 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -400.71703810778587, + 95.94244919458501, + -24.896762625713613 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -400.71703810778587, + 95.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -403.3151143191392, + 97.44244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -405.9131905304925, + 98.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -408.5112667418458, + 100.44244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -411.10934295319913, + 101.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -413.70741916455245, + 103.44244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -416.30549537590576, + 104.94244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -418.9035715872591, + 106.44244919458501, + -24.896762625713613 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -418.9035715872591, + 106.44244919458501, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -420.4035715872591, + 109.04052540593833, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -421.9035715872591, + 111.63860161729164, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -423.4035715872591, + 114.23667782864496, + -24.896762625713613 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -424.9035715872591, + 116.83475403999827, + -24.896762625713613 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-21-22_767066249/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-21-22_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bdbe2b226d84d7c049af38082cf191c16f06359d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-21-22_767066249/pose.jsonl @@ -0,0 +1,1584 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.5608698954236, + 584.4607611901096, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -631.0608698954236, + 587.0588374014628, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.5608698954236, + 589.6569136128162, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -634.0608698954236, + 592.2549898241696, + -5.05932151222148 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.0608698954236, + 592.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -636.658946106777, + 593.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -714.6658248901367, + 595.2243003845215, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -639.2570223181303, + 595.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -641.8550985294837, + 596.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -644.4531747408371, + 598.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.0512509521905, + 599.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -649.6493271635438, + 601.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -652.2474033748972, + 602.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -654.8454795862506, + 604.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -657.443555797604, + 605.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -660.0416320089573, + 607.2549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -662.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -665.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -668.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -671.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -674.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -680.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -732.7001838684082, + 664.7995948791504, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -689.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -695.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -698.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -704.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -707.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -710.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -716.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -719.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -722.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -725.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -728.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -731.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -734.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -737.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -740.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 43, + "pos": [ + -743.6397082203107, + 608.7549898241696, + -5.05932151222148 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -746.0297698974609, + 610.7758102416992, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-26-41_1671294892/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-26-41_1671294892/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..459d4a380d79eb44cb3c1dbf8e7e7b1d80a39387 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-26-41_1671294892/pose.jsonl @@ -0,0 +1,1172 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -613.6709804514313, + 499.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -613.6709804514313, + 496.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -613.6709804514313, + 493.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -613.6709804514313, + 490.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -613.6709804514313, + 487.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -613.6709804514313, + 484.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -613.6709804514313, + 481.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -613.6709804514313, + 478.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -613.6709804514313, + 475.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -613.6709804514313, + 472.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -613.6709804514313, + 469.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -613.6709804514313, + 466.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -613.6709804514313, + 463.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.6709804514313, + 460.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -613.6709804514313, + 457.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -613.6709804514313, + 454.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -613.6709804514313, + 451.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -613.6709804514313, + 448.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -613.6709804514313, + 445.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -613.6709804514313, + 442.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -613.6709804514313, + 439.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -613.6709804514313, + 436.4896701224707, + -1.9666406253224729 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -613.6709804514313, + 436.4896701224707, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -612.1709804514313, + 433.8915939111174, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -610.6709804514313, + 431.2935176997641, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -609.1709804514313, + 428.6954414884108, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -607.6709804514313, + 426.09736527705746, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -606.1709804514313, + 423.49928906570415, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -604.6709804514313, + 420.90121285435083, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -603.1709804514313, + 418.3031366429975, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -601.6709804514313, + 415.7050604316442, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -600.1709804514313, + 413.1069842202909, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -598.6709804514313, + 410.50890800893757, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -597.1709804514313, + 407.91083179758425, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -595.6709804514313, + 405.31275558623094, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -594.1709804514313, + 402.7146793748776, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -592.6709804514313, + 400.1166031635243, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -591.1709804514313, + 397.518526952171, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -589.6709804514313, + 394.92045074081767, + -1.9666406253224729 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -588.1709804514313, + 392.32237452946435, + -1.9666406253224729 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-13_235649157/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-13_235649157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..db0ea43922e8b5ac5663670e6a3e0802cd0370d3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-32-13_235649157/pose.jsonl @@ -0,0 +1,1253 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -716.0520213010168, + 668.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -716.0520213010168, + 671.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.0520213010168, + 674.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -716.0520213010168, + 677.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.0520213010168, + 680.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -716.0520213010168, + 683.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.0520213010168, + 686.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -716.0520213010168, + 689.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.0520213010168, + 692.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -716.0520213010168, + 695.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -716.0520213010168, + 698.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -716.0520213010168, + 701.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -716.0520213010168, + 704.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -716.0520213010168, + 707.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.0520213010168, + 710.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -716.0520213010168, + 713.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.0520213010168, + 716.6529600134761, + -0.5419233233229122 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -716.0520213010168, + 716.6529600134761, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -717.5520213010168, + 719.2510362248295, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.0520213010168, + 721.8491124361828, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -720.5520213010168, + 724.4471886475362, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -722.0520213010168, + 727.0452648588896, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -723.5520213010168, + 729.643341070243, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.0520213010168, + 732.2414172815963, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -726.5520213010168, + 734.8394934929497, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -728.0520213010168, + 737.4375697043031, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -729.5520213010168, + 740.0356459156565, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -731.0520213010168, + 742.6337221270098, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -732.5520213010168, + 745.2317983383632, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.0520213010168, + 747.8298745497166, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -735.5520213010168, + 750.42795076107, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -737.0520213010168, + 753.0260269724233, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -738.5520213010168, + 755.6241031837767, + -0.5419233233229122 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -738.5520213010168, + 755.6241031837767, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -738.5520213010168, + 758.6241031837767, + -0.5419233233229122 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 35, + "pos": [ + -738.5520213010168, + 761.6241031837767, + -0.5419233233229122 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-8_655858699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-8_655858699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf0b656fe3deead2a8990afbb0ac956cd6f97f0e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-44-8_655858699/pose.jsonl @@ -0,0 +1,1237 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 309.34014063789596, + 446.9423223649038, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.84014063789596, + 444.3442461535505, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 306.34014063789596, + 441.7461699421972, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 304.84014063789596, + 439.14809373084387, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 303.34014063789596, + 436.55001751949055, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 301.84014063789596, + 433.95194130813724, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 300.34014063789596, + 431.3538650967839, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 298.84014063789596, + 428.7557888854306, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 297.34014063789596, + 426.1577126740773, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 295.84014063789596, + 423.559636462724, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 294.34014063789596, + 420.96156025137066, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 292.84014063789596, + 418.36348404001734, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 291.34014063789596, + 415.765407828664, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 289.84014063789596, + 413.1673316173107, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.34014063789596, + 410.5692554059574, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 305.2144260406494, + 346.83962059020996, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 286.84014063789596, + 407.9711791946041, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 285.34014063789596, + 405.37310298325076, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 283.84014063789596, + 402.77502677189744, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 282.34014063789596, + 400.1769505605441, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 280.84014063789596, + 397.5788743491908, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 279.34014063789596, + 394.9807981378375, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 277.84014063789596, + 392.3827219264842, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 276.34014063789596, + 389.78464571513086, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 274.84014063789596, + 387.18656950377755, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 273.34014063789596, + 384.58849329242423, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 271.84014063789596, + 381.9904170810709, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.34014063789596, + 379.3923408697176, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 268.84014063789596, + 376.7942646583643, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 267.34014063789596, + 374.19618844701097, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 265.84014063789596, + 371.59811223565765, + -24.497206822666705 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 265.84014063789596, + 371.59811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 263.24206442654264, + 370.09811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 260.6439882151893, + 368.59811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 258.045912003836, + 367.09811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 255.4478357924827, + 365.59811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 252.84975958112938, + 364.09811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + 250.25168336977606, + 362.59811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + 247.65360715842274, + 361.09811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + 245.05553094706943, + 359.59811223565765, + -24.497206822666705 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + 242.4574547357161, + 358.09811223565765, + -24.497206822666705 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 240.78176975250244, + 355.75264739990234, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-47-58_1974806403/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-47-58_1974806403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b5ae33e4b32215c035f9bef719acf2c10387178 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-47-58_1974806403/pose.jsonl @@ -0,0 +1,1360 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 15.315031582907707, + 221.66129510950935, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 13.815031582907707, + 224.25937132086267, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 12.315031582907707, + 226.85744753221599, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 10.815031582907707, + 229.4555237435693, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 9.315031582907707, + 232.05359995492262, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 7.815031582907708, + 234.65167616627593, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 6.315031582907709, + 237.24975237762925, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 4.81503158290771, + 239.84782858898257, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 3.315031582907711, + 242.44590480033588, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.8150315829077115, + 245.0439810116892, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 0.31503158290771216, + 247.6420572230425, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -1.1849684170922872, + 250.24013343439583, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 7.667010009288788, + 276.1487979888916, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -2.6849684170922865, + 252.83820964574915, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -4.184968417092286, + 255.43628585710246, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -5.684968417092285, + 258.0343620684558, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -7.184968417092284, + 260.6324382798091, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -8.684968417092284, + 263.2305144911624, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -10.184968417092284, + 265.8285907025157, + -28.780638587157483 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -10.184968417092284, + 265.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -12.7830446284456, + 267.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -15.381120839798916, + 268.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -17.979197051152234, + 270.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991495 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -20.57727326250555, + 271.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.175349473858866, + 273.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -25.77342568521218, + 274.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -28.371501896565498, + 276.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -30.969578107918814, + 277.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -33.56765431927213, + 279.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -36.165730530625446, + 280.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -38.76380674197876, + 282.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -41.36188295333208, + 283.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -43.959959164685394, + 285.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -46.55803537603871, + 286.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -49.156111587392026, + 288.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -51.75418779874534, + 289.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -54.35226401009866, + 291.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -56.950340221451974, + 292.8285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -59.54841643280529, + 294.3285907025157, + -28.780638587157483 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -59.54841643280529, + 294.3285907025157, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -61.04841643280529, + 296.92666691386904, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -62.54841643280529, + 299.52474312522236, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -64.04841643280528, + 302.1228193365757, + -28.780638587157483 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931935 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 42, + "pos": [ + -65.54841643280528, + 304.720895547929, + -28.780638587157483 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -67.61026430130005, + 306.6483554840088, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-50-30_1498617647/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-50-30_1498617647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e057daf5db32c4c3ba166a781849c69b8432bd51 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_5-50-30_1498617647/pose.jsonl @@ -0,0 +1,1315 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -782.2612600029248, + 409.8300593806534, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -779.2612600029248, + 409.8300593806534, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -776.2612600029248, + 409.8300593806534, + -20.695951256527696 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -776.2612600029248, + 409.8300593806534, + -20.695951256527696 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.2612600029248, + 409.8300593806534, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -774.7612600029248, + 412.4281355920067, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -773.2612600029248, + 415.02621180336, + -20.695951256527696 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -773.2612600029248, + 415.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -770.6631837915716, + 416.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -768.0651075802182, + 418.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.4670313688648, + 419.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.8689551575114, + 421.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -760.2708789461581, + 422.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.6728027348047, + 424.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.0747265234513, + 425.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.476650312098, + 427.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.8785741007446, + 428.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -747.2804978893912, + 430.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.6824216780378, + 431.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -742.0843454666845, + 433.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.4862692553311, + 434.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.8881930439777, + 436.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -734.2901168326243, + 437.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.692040621271, + 439.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -729.0939644099176, + 440.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -726.4958881985642, + 442.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -723.8978119872108, + 443.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.2997357758575, + 445.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.7016595645041, + 446.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -716.1035833531507, + 448.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -713.5055071417974, + 449.52621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -710.907430930444, + 451.02621180336, + -20.695951256527696 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -708.3093547190906, + 452.52621180336, + -20.695951256527696 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-18-53_1081174232/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-18-53_1081174232/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9eda77f91ba4fac166ec55b6c60d56a339301679 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-18-53_1081174232/pose.jsonl @@ -0,0 +1,1042 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 163.6618625906366, + 117.51788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 161.06378637928327, + 119.01788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 158.46571016792996, + 120.51788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 155.86763395657664, + 122.01788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 153.26955774522332, + 123.51788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 150.67148153387, + 125.01788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 148.0734053225167, + 126.51788774507759, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 145.47532911116338, + 128.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 142.87725289981006, + 129.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 140.27917668845674, + 131.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 137.68110047710343, + 132.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 135.0830242657501, + 134.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 132.4849480543968, + 135.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 129.88687184304348, + 137.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 127.28879563169016, + 138.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 124.69071942033685, + 140.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 122.09264320898353, + 141.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 119.49456699763022, + 143.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 116.8964907862769, + 144.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 114.29841457492358, + 146.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 111.70033836357027, + 147.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 109.10226215221695, + 149.0178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 106.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 106.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 103.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 100.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 97.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 94.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 91.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 88.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 85.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 82.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 79.50418594086364, + 150.5178877450776, + -25.507419210476293 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 39.75375771522522, + 190.4626169204712, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-2-5_70636429/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-2-5_70636429/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..097d3d68ade5d3aef9138bfbf8cab907340f7c63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-2-5_70636429/pose.jsonl @@ -0,0 +1,1408 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -455.96060740031805, + 389.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -455.96060740031805, + 392.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -455.96060740031805, + 395.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -455.96060740031805, + 398.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -455.96060740031805, + 401.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -455.96060740031805, + 404.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -455.96060740031805, + 407.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -455.96060740031805, + 410.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.96060740031805, + 413.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -455.96060740031805, + 416.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -455.96060740031805, + 419.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -455.96060740031805, + 422.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -455.96060740031805, + 425.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -455.96060740031805, + 428.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -455.96060740031805, + 431.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -455.96060740031805, + 434.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -455.96060740031805, + 437.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -455.96060740031805, + 440.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -455.96060740031805, + 443.2796861652201, + -14.564266056630641 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -455.96060740031805, + 443.2796861652201, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -457.46060740031805, + 445.8777623765734, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -458.96060740031805, + 448.4758385879267, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -460.46060740031805, + 451.07391479928003, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -461.96060740031805, + 453.67199101063335, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -463.46060740031805, + 456.27006722198666, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -464.96060740031805, + 458.86814343334, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -466.46060740031805, + 461.4662196446933, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -467.96060740031805, + 464.0642958560466, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -469.46060740031805, + 466.66237206739993, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -470.96060740031805, + 469.26044827875324, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -472.46060740031805, + 471.85852449010656, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -473.96060740031805, + 474.4566007014599, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -475.46060740031805, + 477.0546769128132, + -14.564266056630641 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -476.96060740031805, + 479.6527531241665, + -14.564266056630641 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -479.76721382141113, + 480.29591369628906, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-22-49_847228023/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-22-49_847228023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4940ad02d363ee5e78f8d64b7238eba56bf5108a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-22-49_847228023/pose.jsonl @@ -0,0 +1,1009 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -699.628809101272, + 224.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -697.0307328899187, + 223.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -694.4326566785653, + 221.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -691.8345804672119, + 220.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -689.2365042558586, + 218.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -686.6384280445052, + 217.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -684.0403518331518, + 215.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -681.4422756217984, + 214.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -678.8441994104451, + 212.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -676.2461231990917, + 211.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -673.6480469877383, + 209.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.049970776385, + 208.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -668.4518945650316, + 206.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.8538183536782, + 205.28762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -663.2557421423248, + 203.78762502169357, + -1.9764213274646707 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -663.2557421423248, + 203.78762502169357, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -661.7557421423248, + 201.18954881034026, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -660.2557421423248, + 198.59147259898694, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.7557421423248, + 195.99339638763362, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -657.2557421423248, + 193.3953201762803, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -655.7557421423248, + 190.797243964927, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -654.2557421423248, + 188.19916775357368, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -652.7557421423248, + 185.60109154222036, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -651.2557421423248, + 183.00301533086704, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -649.7557421423248, + 180.40493911951373, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -648.2557421423248, + 177.8068629081604, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.7557421423248, + 175.2087866968071, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -645.2557421423248, + 172.61071048545378, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -643.7557421423248, + 170.01263427410046, + -1.9764213274646707 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -642.2557421423248, + 167.41455806274715, + -1.9764213274646707 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-23-29_1516266761/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-23-29_1516266761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbd8af971cd7eaece39cd80ad1c1edd05d22ea90 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-23-29_1516266761/pose.jsonl @@ -0,0 +1,1753 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -361.82683811753304, + 517.9709681187105, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -360.32683811753304, + 520.5690443300639, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -358.82683811753304, + 523.1671205414173, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -357.32683811753304, + 525.7651967527706, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -355.82683811753304, + 528.363272964124, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -354.32683811753304, + 530.9613491754774, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -352.82683811753304, + 533.5594253868308, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -351.32683811753304, + 536.1575015981841, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -349.82683811753304, + 538.7555778095375, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -348.32683811753304, + 541.3536540208909, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -346.82683811753304, + 543.9517302322442, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -345.32683811753304, + 546.5498064435976, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -343.82683811753304, + 549.147882654951, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -342.32683811753304, + 551.7459588663044, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -340.82683811753304, + 554.3440350776577, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -339.32683811753304, + 556.9421112890111, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -337.82683811753304, + 559.5401875003645, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.32683811753304, + 562.1382637117179, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -334.82683811753304, + 564.7363399230712, + -20.810618028218563 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -334.82683811753304, + 564.7363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -332.2287619061797, + 566.2363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -329.6306856948264, + 567.7363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -327.0326094834731, + 569.2363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -254.11329460144043, + 550.4007053375244, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -324.4345332721198, + 570.7363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -321.83645706076646, + 572.2363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -319.23838084941315, + 573.7363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -316.64030463805983, + 575.2363399230712, + -20.810618028218563 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -316.64030463805983, + 575.2363399230712, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -315.14030463805983, + 577.8344161344246, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -313.64030463805983, + 580.432492345778, + -20.810618028218563 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -312.14030463805983, + 583.0305685571313, + -20.810618028218563 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-29-25_2004504234/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-29-25_2004504234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36aab61ad4f81d702f9a7e785bba6a240bfd66fc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-29-25_2004504234/pose.jsonl @@ -0,0 +1,1268 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -598.3199134502001, + 740.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.3199134502001, + 737.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -598.3199134502001, + 734.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -598.3199134502001, + 731.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -598.3199134502001, + 728.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -598.3199134502001, + 725.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -598.3199134502001, + 722.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.3199134502001, + 719.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -598.3199134502001, + 716.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -598.3199134502001, + 713.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -598.3199134502001, + 710.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -598.3199134502001, + 707.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -598.3199134502001, + 704.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -598.3199134502001, + 701.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -598.3199134502001, + 698.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -598.3199134502001, + 695.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -598.3199134502001, + 692.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -598.3199134502001, + 689.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -598.3199134502001, + 686.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -598.3199134502001, + 683.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -598.3199134502001, + 680.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -598.3199134502001, + 677.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -598.3199134502001, + 674.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -598.3199134502001, + 671.6140557670703, + -24.338822677003158 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -598.3199134502001, + 671.6140557670703, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -599.8199134502001, + 669.015979555717, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -601.3199134502001, + 666.4179033443636, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -602.8199134502001, + 663.8198271330102, + -24.338822677003158 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -604.3199134502001, + 661.2217509216568, + -24.338822677003158 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -642.2547798156738, + 610.2990417480469, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.9516716003418, + 637.0020637512207, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -604.2860908508301, + 659.8240394592285, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-30-4_1061730690/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-30-4_1061730690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c404e9dd7e6fda03091d9ce93604e5f2f333de84 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-30-4_1061730690/pose.jsonl @@ -0,0 +1,1549 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -495.8735721450886, + 422.16756357218156, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -497.3735721450886, + 424.7656397835349, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -498.8735721450886, + 427.3637159948882, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -500.3735721450886, + 429.9617922062415, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -501.8735721450886, + 432.5598684175948, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -503.3735721450886, + 435.15794462894814, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -504.8735721450886, + 437.75602084030146, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -506.3735721450886, + 440.3540970516548, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -507.8735721450886, + 442.9521732630081, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -509.3735721450886, + 445.5502494743614, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -510.8735721450886, + 448.1483256857147, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -512.3735721450886, + 450.74640189706804, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -513.8735721450886, + 453.34447810842136, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -515.3735721450886, + 455.9425543197747, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -516.8735721450886, + 458.540630531128, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -518.3735721450886, + 461.1387067424813, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -519.8735721450886, + 463.7367829538346, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -513.548921585083, + 491.5803527832031, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -521.3735721450886, + 466.33485916518794, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -522.8735721450886, + 468.93293537654125, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -524.3735721450886, + 471.53101158789457, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -525.8735721450886, + 474.1290877992479, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -527.3735721450886, + 476.7271640106012, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -528.8735721450886, + 479.3252402219545, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -530.3735721450886, + 481.92331643330783, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -531.8735721450886, + 484.52139264466115, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -533.3735721450886, + 487.11946885601446, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -534.8735721450886, + 489.7175450673678, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -536.3735721450886, + 492.3156212787211, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -537.8735721450886, + 494.9136974900744, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -585.9082164764404, + 513.8831596374512, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -539.3735721450886, + 497.5117737014277, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -540.8735721450886, + 500.10984991278104, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -542.3735721450886, + 502.70792612413436, + -7.93902512037733 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -543.8735721450886, + 505.3060023354877, + -7.93902512037733 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.2693195343018, + 507.36531829833984, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-33-1_1748349614/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-33-1_1748349614/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e824eb045edb33d5373a8c71cd603a65e457606c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-33-1_1748349614/pose.jsonl @@ -0,0 +1,650 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -540.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -543.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -546.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -549.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -552.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -555.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -558.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -561.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -564.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 9, + "pos": [ + -567.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 10, + "pos": [ + -570.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 11, + "pos": [ + -573.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 12, + "pos": [ + -576.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 13, + "pos": [ + -579.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 14, + "pos": [ + -582.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -585.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -588.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -591.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -594.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -597.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + -600.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + -603.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + -606.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + -609.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + -612.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + -615.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -618.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -621.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -624.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -624.4880739257651, + 801.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -627.0861501371185, + 799.8953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -629.6842263484718, + 798.3953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -632.2823025598252, + 796.8953921278561, + -26.885492965544103 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -634.8803787711786, + 795.3953921278561, + -26.885492965544103 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-0_1857756970/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-0_1857756970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..00061f88440b130ea7f48144ac4514b6681c1481 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-0_1857756970/pose.jsonl @@ -0,0 +1,1008 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -151.9153061663888, + 584.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -154.51338237774212, + 585.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -157.11145858909543, + 587.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -159.70953480044875, + 588.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -230.38146877288818, + 591.9002571105957, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -162.30761101180207, + 590.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -164.90568722315538, + 591.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -167.5037634345087, + 593.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.10183964586201, + 594.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -172.69991585721533, + 596.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -175.29799206856865, + 597.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -177.89606827992196, + 599.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -180.49414449127528, + 600.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -183.0922207026286, + 602.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -185.6902969139819, + 603.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -188.28837312533523, + 605.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 15, + "pos": [ + -190.88644933668854, + 606.5458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 16, + "pos": [ + -193.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 18, + "pos": [ + -196.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + -199.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -202.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -205.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -208.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -211.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -214.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -217.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -220.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -223.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -226.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -229.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -235.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -238.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -244.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -247.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -250.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -253.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -256.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -259.48452554804186, + 608.0458872432216, + -1.5238020899700047 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-50_1874799051/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-50_1874799051/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5bd44d3d461a7bf2abfba8e66d4fa2449af54c36 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-46-50_1874799051/pose.jsonl @@ -0,0 +1,1386 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.4438997349497, + 166.06712143199164, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -575.9438997349497, + 168.66519764334495, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -574.4438997349497, + 171.26327385469827, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -572.9438997349497, + 173.86135006605159, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -571.4438997349497, + 176.4594262774049, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -569.9438997349497, + 179.05750248875822, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -568.4438997349497, + 181.65557870011153, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -566.9438997349497, + 184.25365491146485, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -565.4438997349497, + 186.85173112281817, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -563.9438997349497, + 189.44980733417148, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -562.4438997349497, + 192.0478835455248, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -560.9438997349497, + 194.6459597568781, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -559.4438997349497, + 197.24403596823143, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -557.9438997349497, + 199.84211217958475, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -556.4438997349497, + 202.44018839093806, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -554.9438997349497, + 205.03826460229138, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -553.4438997349497, + 207.6363408136447, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -551.9438997349497, + 210.234417024998, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -550.4438997349497, + 212.83249323635133, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -548.9438997349497, + 215.43056944770464, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -547.4438997349497, + 218.02864565905796, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -545.9438997349497, + 220.62672187041127, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -544.4438997349497, + 223.2247980817646, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -542.9438997349497, + 225.8228742931179, + -29.75522456659598 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -542.9438997349497, + 225.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -540.3458235235964, + 227.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -537.7477473122431, + 228.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -535.1496711008897, + 230.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -532.5515948895363, + 231.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -529.953518678183, + 233.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -527.3554424668296, + 234.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -524.7573662554762, + 236.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -522.1592900441228, + 237.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -519.5612138327695, + 239.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -516.9631376214161, + 240.8228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -514.3650614100627, + 242.3228742931179, + -29.75522456659598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [] +} +{ + "action": { + "imageid": 36, + "pos": [ + -511.7669851987094, + 243.8228742931179, + -29.75522456659598 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-54_1243439214/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-54_1243439214/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4904a9fe30c5ede76376be98298ce6f96257517a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-52-54_1243439214/pose.jsonl @@ -0,0 +1,1140 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -272.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -275.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -278.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -281.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -284.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -287.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -293.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -302.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -305.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -308.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -311.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -314.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -317.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -320.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -323.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -323.0256035381507, + 667.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.623679749504, + 665.5846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -328.2217559608573, + 664.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -330.8198321722106, + 662.5846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.41790838356394, + 661.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -336.01598459491726, + 659.5846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -338.6140608062706, + 658.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -341.2121370176239, + 656.5846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -343.8102132289772, + 655.0846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -346.4082894403305, + 653.5846680216301, + -16.66530436340592 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -346.4082894403305, + 653.5846680216301, + -16.66530436340592 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -349.4082894403305, + 653.5846680216301, + -16.66530436340592 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-53-34_70788355/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-53-34_70788355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee1d415c0ba9dc02409fd80d775a09ddf7680280 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-53-34_70788355/pose.jsonl @@ -0,0 +1,2090 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -512.6703495104997, + 497.36115331068726, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -512.6703495104997, + 500.36115331068726, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -512.6703495104997, + 503.36115331068726, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -512.6703495104997, + 506.36115331068726, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -512.6703495104997, + 509.36115331068726, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -512.6703495104997, + 512.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -512.6703495104997, + 515.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -557.2856903076172, + 565.8412857055664, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -512.6703495104997, + 518.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -512.6703495104997, + 521.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -512.6703495104997, + 524.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -512.6703495104997, + 527.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -512.6703495104997, + 530.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -512.6703495104997, + 533.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -512.6703495104997, + 536.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -512.6703495104997, + 539.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -512.6703495104997, + 542.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -512.6703495104997, + 545.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -512.6703495104997, + 548.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -512.6703495104997, + 551.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -512.6703495104997, + 554.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -512.6703495104997, + 557.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -512.6703495104997, + 560.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -512.6703495104997, + 563.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -512.6703495104997, + 566.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -512.6703495104997, + 569.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -512.6703495104997, + 572.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -512.6703495104997, + 575.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -512.6703495104997, + 578.3611533106873, + -4.977241882491974 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -512.6703495104997, + 578.3611533106873, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -511.1703495104997, + 580.9592295220407, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -509.6703495104997, + 583.5573057333941, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -508.1703495104997, + 586.1553819447474, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -506.6703495104997, + 588.7534581561008, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -505.1703495104997, + 591.3515343674542, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -503.6703495104997, + 593.9496105788076, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -502.1703495104997, + 596.5476867901609, + -4.977241882491974 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -500.6703495104997, + 599.1457630015143, + -4.977241882491974 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -505.1580352783203, + 665.9364318847656, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-7-22_2416949/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-7-22_2416949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d886d3247f0fa6f2235631668f2fc7fc2dbe6110 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_6-7-22_2416949/pose.jsonl @@ -0,0 +1,930 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -313.043410921415, + 443.5054550921719, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -314.543410921415, + 440.9073788808186, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -316.043410921415, + 438.3093026694653, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -317.543410921415, + 435.711226458112, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -319.043410921415, + 433.11315024675866, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -320.543410921415, + 430.51507403540535, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -322.043410921415, + 427.91699782405203, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -323.543410921415, + 425.3189216126987, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -325.043410921415, + 422.7208454013454, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.543410921415, + 420.1227691899921, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -328.043410921415, + 417.52469297863877, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -329.543410921415, + 414.92661676728545, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -331.043410921415, + 412.32854055593214, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -332.543410921415, + 409.7304643445788, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -334.043410921415, + 407.1323881332255, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -335.543410921415, + 404.5343119218722, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -337.043410921415, + 401.9362357105189, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -338.543410921415, + 399.33815949916556, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -340.043410921415, + 396.74008328781224, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -341.543410921415, + 394.1420070764589, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -343.043410921415, + 391.5439308651056, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -344.543410921415, + 388.9458546537523, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -346.043410921415, + 386.347778442399, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -347.543410921415, + 383.74970223104566, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.043410921415, + 381.15162601969234, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.543410921415, + 378.553549808339, + -1.811489878970722 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -350.543410921415, + 378.553549808339, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -350.543410921415, + 375.553549808339, + -1.811489878970722 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -350.543410921415, + 372.553549808339, + -1.811489878970722 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -335.2635250091553, + 293.34011459350586, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -350.09701919555664, + 369.4403533935547, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-10-44_959372260/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-10-44_959372260/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b768e66a091d1a0dc0809daa54ecf1053fdf750 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-10-44_959372260/pose.jsonl @@ -0,0 +1,1613 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -617.1951575195046, + 558.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -619.793233730858, + 557.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -622.3913099422114, + 555.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -624.9893861535647, + 554.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -627.5874623649181, + 552.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -630.1855385762715, + 551.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -632.7836147876249, + 549.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -635.3816909989782, + 548.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -637.9797672103316, + 546.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -640.577843421685, + 545.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -643.1759196330383, + 543.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.7739958443917, + 542.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -648.3720720557451, + 540.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -650.9701482670985, + 539.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -653.5682244784518, + 537.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -656.1663006898052, + 536.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -658.7643769011586, + 534.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -661.362453112512, + 533.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -663.9605293238653, + 531.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -666.5586055352187, + 530.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -669.1566817465721, + 528.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -671.7547579579254, + 527.2453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -674.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -674.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -680.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -683.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -686.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -689.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -692.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -698.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -701.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -704.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -710.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -713.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -716.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -719.3528341692788, + 525.7453097538967, + -0.4940268799844354 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -755.3246536254883, + 537.5322322845459, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -793.8527374267578, + 552.4636459350586, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -720.8203277587891, + 524.2329063415527, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-11-33_1025125849/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-11-33_1025125849/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c73b30cd870d9bd64755061223778db66d6bd5b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-11-33_1025125849/pose.jsonl @@ -0,0 +1,1220 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -533.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -530.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -527.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -524.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -521.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -518.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -515.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -512.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -509.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -506.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -503.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -500.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -497.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -494.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -491.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -488.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -485.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -479.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -476.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -473.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -470.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -467.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -464.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -461.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -458.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -395.35422134399414, + 176.95641708374023, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -458.9131951659657, + 137.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -456.3151189546124, + 135.9109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -453.71704274325907, + 134.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -451.11896653190576, + 132.9109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -448.52089032055244, + 131.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -445.9228141091991, + 129.9109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -443.3247378978458, + 128.4109619552723, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -440.7266616864925, + 126.91096195527231, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -438.1285854751392, + 125.41096195527231, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -435.53050926378586, + 123.91096195527231, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -432.93243305243254, + 122.41096195527231, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -430.3343568410792, + 120.91096195527231, + -22.063763968202554 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -427.7362806297259, + 119.41096195527231, + -22.063763968202554 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -425.6671447753906, + 120.61265325546265, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-15-31_1282648518/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-15-31_1282648518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6eadde2a63485be75fa73548d5be0bf03754ba44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-15-31_1282648518/pose.jsonl @@ -0,0 +1,1211 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -497.11134649106657, + 331.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -497.11134649106657, + 328.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -497.11134649106657, + 325.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -497.11134649106657, + 322.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -497.11134649106657, + 319.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -497.11134649106657, + 316.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -497.11134649106657, + 313.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -497.11134649106657, + 310.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -544.2595748901367, + 261.32396507263184, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -497.11134649106657, + 307.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -497.11134649106657, + 304.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -497.11134649106657, + 301.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -497.11134649106657, + 298.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -497.11134649106657, + 295.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -497.11134649106657, + 292.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -497.11134649106657, + 289.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -497.11134649106657, + 286.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -497.11134649106657, + 283.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -497.11134649106657, + 280.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -497.11134649106657, + 277.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -497.11134649106657, + 274.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -497.11134649106657, + 271.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -497.11134649106657, + 268.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -497.11134649106657, + 265.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -497.11134649106657, + 262.0186539167707, + -4.011139109791287 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -497.11134649106657, + 262.0186539167707, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -498.61134649106657, + 259.4205777054174, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -500.11134649106657, + 256.82250149406406, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -501.61134649106657, + 254.22442528271074, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -503.11134649106657, + 251.62634907135742, + -4.011139109791287 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -503.11134649106657, + 251.62634907135742, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -505.7094227024199, + 250.12634907135742, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -508.3074989137732, + 248.62634907135742, + -4.011139109791287 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -510.9055751251265, + 247.12634907135742, + -4.011139109791287 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -542.5073890686035, + 188.08247089385986, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -511.4263668060303, + 245.88372898101807, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-19-18_1584710873/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-19-18_1584710873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..145fbc78bfba2d27f8a112e32be8c02cfac54c89 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-19-18_1584710873/pose.jsonl @@ -0,0 +1,1398 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -84.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -78.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -75.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -72.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -69.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -66.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -63.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -60.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -57.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -54.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -51.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -48.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -45.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -42.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 3.870727628469467, + 353.27501678466797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -39.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -36.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -33.12814997821715, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -30.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -27.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -24.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -21.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -18.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -15.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -12.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -9.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -6.128149978217152, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -3.1281499782171522, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -0.12814997821715224, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 2.8718500217828478, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 5.871850021782848, + 391.71745381163976, + -23.936664680488153 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 5.871850021782848, + 391.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 8.469926233136164, + 393.21745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 11.06800244448948, + 394.71745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 13.666078655842796, + 396.21745381163976, + -23.936664680488153 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 16.264154867196112, + 397.71745381163976, + -23.936664680488153 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-48-1_235745791/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-48-1_235745791/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e777351528bb037db8ad8dc24a67848402bcb0a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-48-1_235745791/pose.jsonl @@ -0,0 +1,1022 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -8.264879888864385, + 53.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -10.862956100217701, + 52.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -13.461032311571017, + 50.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -16.059108522924333, + 49.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -18.65718473427765, + 47.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -21.255260945630965, + 46.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -23.85333715698428, + 44.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -26.451413368337597, + 43.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -29.049489579690913, + 41.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -31.64756579104423, + 40.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -34.245642002397545, + 38.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -36.84371821375086, + 37.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -39.44179442510418, + 35.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -42.03987063645749, + 34.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -44.63794684781081, + 32.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -47.236023059164125, + 31.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -49.83409927051744, + 29.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -52.43217548187076, + 28.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -55.03025169322407, + 26.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -57.62832790457739, + 25.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -60.226404115930706, + 23.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -62.82448032728402, + 22.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -65.42255653863734, + 20.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -68.02063274999065, + 19.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -70.61870896134397, + 17.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -73.21678517269729, + 16.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -75.8148613840506, + 14.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -78.41293759540392, + 13.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -81.01101380675723, + 11.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -83.60909001811055, + 10.42511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -86.20716622946387, + 8.92511577999418, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -88.80524244081718, + 7.425115779994179, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -91.4033186521705, + 5.925115779994179, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -94.00139486352381, + 4.425115779994179, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -96.59947107487713, + 2.9251157799941794, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -99.19754728623045, + 1.4251157799941796, + -19.663907567206248 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -99.19754728623045, + 1.4251157799941796, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -100.69754728623045, + -1.1729604313591364, + -19.663907567206248 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -102.19754728623045, + -3.7710366427124526, + -19.663907567206248 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -103.74164056777954, + -6.204251378774643, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-13_1280631491/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-13_1280631491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77279eeb28e4f421c78735e2f7425bb68b00ec84 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-13_1280631491/pose.jsonl @@ -0,0 +1,2071 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -372.9855776482083, + 547.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -375.5836538595616, + 548.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -378.1817300709149, + 550.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -380.7798062822682, + 551.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -383.37788249362154, + 553.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -385.97595870497486, + 554.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -388.5740349163282, + 556.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -391.1721111276815, + 557.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -393.7701873390348, + 559.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -396.3682635503881, + 560.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -398.96633976174144, + 562.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -401.56441597309475, + 563.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -404.16249218444807, + 565.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -406.7605683958014, + 566.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -409.3586446071547, + 568.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -411.956720818508, + 569.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -414.55479702986133, + 571.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -417.15287324121465, + 572.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -419.75094945256797, + 574.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -422.3490256639213, + 575.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -424.9471018752746, + 577.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -427.5451780866279, + 578.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -430.14325429798123, + 580.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -432.74133050933455, + 581.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -435.33940672068786, + 583.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -437.9374829320412, + 584.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -440.5355591433945, + 586.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -443.1336353547478, + 587.7696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -445.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -477.36673736572266, + 644.4626426696777, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -445.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -448.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -451.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -454.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -457.7317115661011, + 589.2696013045618, + -4.899042159069893 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -530.2980422973633, + 621.7648239135742, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-57_126401947/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-57_126401947/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a92b2e29414d45327fa403f5df7018050456c1df --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_7-53-57_126401947/pose.jsonl @@ -0,0 +1,1302 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -573.8566541736982, + 304.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.8566541736982, + 307.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -573.8566541736982, + 310.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -573.8566541736982, + 313.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -573.8566541736982, + 316.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -573.8566541736982, + 319.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -573.8566541736982, + 322.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -573.8566541736982, + 325.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -573.8566541736982, + 328.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -573.8566541736982, + 331.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -573.8566541736982, + 334.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -573.8566541736982, + 337.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -573.8566541736982, + 340.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -573.8566541736982, + 343.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.8566541736982, + 346.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -573.8566541736982, + 349.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -508.6650161743164, + 415.4469909667969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -573.8566541736982, + 352.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -573.8566541736982, + 355.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -573.8566541736982, + 358.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -573.8566541736982, + 361.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -573.8566541736982, + 364.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -573.8566541736982, + 367.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -573.8566541736982, + 370.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -573.8566541736982, + 373.6046060674416, + -3.5567952081851395 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -537.6215629577637, + 434.12072563171387, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -573.8566541736982, + 373.6046060674416, + -3.5567952081851395 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -573.8566541736982, + 373.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -576.4547303850516, + 375.1046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -579.0528065964049, + 376.6046060674416, + -3.5567952081851395 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -579.0528065964049, + 376.6046060674416, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -580.5528065964049, + 379.2026822787949, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -582.0528065964049, + 381.8007584901482, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -583.5528065964049, + 384.3988347015015, + -3.5567952081851395 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -585.0528065964049, + 386.99691091285484, + -3.5567952081851395 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -603.3111000061035, + 469.6691150665283, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -585.7167987823486, + 390.5620746612549, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-1-48_1905241081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-1-48_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30fce9471fd8161433b738ea20225127116d2471 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-1-48_1905241081/pose.jsonl @@ -0,0 +1,1050 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -374.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -377.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -380.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -383.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -386.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -389.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -392.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -395.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -398.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -401.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -404.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -410.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -413.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -416.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -419.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -422.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -425.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -428.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -431.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -434.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -437.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -440.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -443.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -446.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -449.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -452.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -455.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -458.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -461.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -464.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -467.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -470.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -473.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -476.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -479.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -482.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -482.1103771789569, + 725.9318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -484.70845339031024, + 727.4318327814298, + -8.761871934481114 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -487.30652960166356, + 728.9318327814298, + -8.761871934481114 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -489.53506088256836, + 730.3319244384766, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-20-56_435889744/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-20-56_435889744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98cfa89200bb1a9b54147e1ad3c2e1f33dda1413 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-20-56_435889744/pose.jsonl @@ -0,0 +1,1151 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 198.58596393425765, + 41.314223257765676, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 197.08596393425765, + 43.91229946911899, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 195.58596393425765, + 46.51037568047231, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 194.08596393425765, + 49.108451891825624, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 192.58596393425765, + 51.70652810317894, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 191.08596393425765, + 54.304604314532256, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 189.58596393425765, + 56.90268052588557, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 188.08596393425765, + 59.50075673723889, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 186.58596393425765, + 62.098832948592204, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 185.08596393425765, + 64.69690915994552, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 183.58596393425765, + 67.29498537129884, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 182.08596393425765, + 69.89306158265215, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 180.58596393425765, + 72.49113779400547, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 179.08596393425765, + 75.08921400535878, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 177.58596393425765, + 77.6872902167121, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 176.08596393425765, + 80.28536642806542, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 174.58596393425765, + 82.88344263941873, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 173.08596393425765, + 85.48151885077205, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 171.58596393425765, + 88.07959506212536, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + 170.08596393425765, + 90.67767127347868, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + 168.58596393425765, + 93.275747484832, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + 167.08596393425765, + 95.87382369618531, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + 165.58596393425765, + 98.47189990753863, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + 164.08596393425765, + 101.06997611889194, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + 162.58596393425765, + 103.66805233024526, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + 161.08596393425765, + 106.26612854159858, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + 159.58596393425765, + 108.86420475295189, + -0.33109582050413877 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + 159.58596393425765, + 108.86420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + 156.98788772290433, + 110.36420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + 154.38981151155102, + 111.86420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + 151.7917353001977, + 113.36420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + 149.19365908884438, + 114.86420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + 146.59558287749107, + 116.36420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + 143.99750666613775, + 117.86420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + 141.39943045478444, + 119.36420475295189, + -0.33109582050413877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + 138.80135424343112, + 120.86420475295189, + -0.33109582050413877 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 75.61396646499634, + 150.75547695159912, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 136.17157411575317, + 123.7804856300354, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-29-44_1965421244/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-29-44_1965421244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..236e17234c6e5c2662c396a35dc935ada155b78a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-29-44_1965421244/pose.jsonl @@ -0,0 +1,1642 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -760.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -692.2501678466797, + 284.9963035583496, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -754.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -691.2120475769043, + 166.81586360931396, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -742.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -736.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -730.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -718.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -715.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -709.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -691.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -685.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -682.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -676.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.9709490516502, + 216.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -674.3728728402968, + 218.02595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -671.7747966289435, + 219.52595917020008, + -9.120314597236334 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -669.1767204175901, + 221.02595917020008, + -9.120314597236334 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-41-17_1617876982/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-41-17_1617876982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4dfb506e6c98e19d375a88e9f4c67cd40b59c4cb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-41-17_1617876982/pose.jsonl @@ -0,0 +1,1092 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 17.988928231151746, + 410.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + 15.39085201979843, + 411.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 12.792775808445114, + 413.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 10.194699597091798, + 414.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 7.596623385738482, + 416.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 4.998547174385166, + 417.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 2.40047096303185, + 419.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -0.19760524832146587, + 420.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -2.795681459674782, + 422.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -5.393757671028098, + 423.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -7.991833882381414, + 425.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -10.58991009373473, + 426.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -13.187986305088046, + 428.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -15.786062516441362, + 429.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -18.384138727794678, + 431.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -20.982214939147994, + 432.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -23.58029115050131, + 434.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -26.178367361854626, + 435.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -28.776443573207942, + 437.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -31.374519784561258, + 438.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.972595995914574, + 440.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -36.57067220726789, + 441.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -39.168748418621206, + 443.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -41.76682462997452, + 444.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -44.36490084132784, + 446.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -46.962977052681154, + 447.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -49.56105326403447, + 449.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -52.159129475387786, + 450.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -54.7572056867411, + 452.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -57.35528189809442, + 453.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -59.953358109447734, + 455.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -62.55143432080105, + 456.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -65.14951053215437, + 458.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -67.74758674350768, + 459.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -70.345662954861, + 461.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -72.94373916621431, + 462.56792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -75.54181537756763, + 464.06792068978496, + -2.298215831985015 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -75.54181537756763, + 464.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -78.54181537756763, + 464.06792068978496, + -2.298215831985015 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -81.54181537756763, + 464.06792068978496, + -2.298215831985015 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-42-57_2143124030/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-42-57_2143124030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a314bd66fb38154ff4e8fc7f4a3107147badfbe2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-42-57_2143124030/pose.jsonl @@ -0,0 +1,1040 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -166.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -163.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -160.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -157.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -154.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -151.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -148.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -145.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -145.54234117874634, + 433.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -142.94426496739302, + 434.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -140.3461887560397, + 436.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -137.7481125446864, + 437.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -135.15003633333308, + 439.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -132.55196012197976, + 440.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -129.95388391062644, + 442.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -127.35580769927313, + 443.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -124.75773148791981, + 445.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -122.1596552765665, + 446.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -119.56157906521318, + 448.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -116.96350285385986, + 449.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -114.36542664250655, + 451.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -111.76735043115323, + 452.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -109.16927421979992, + 454.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -106.5711980084466, + 455.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -103.97312179709328, + 457.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -101.37504558573997, + 458.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -98.77696937438665, + 460.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -96.17889316303334, + 461.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -93.58081695168002, + 463.03812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -90.9827407403267, + 464.53812177689787, + -19.838401912183286 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -88.38466452897339, + 466.03812177689787, + -19.838401912183286 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -15.610147833824158, + 506.38565254211426, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -8.497139185667038, + 519.214334487915, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -85.02478075027466, + 465.0187740325928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-48_1738110294/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-48_1738110294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..55b29337b00692c496e6ed116b137a95c25c8fce --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-58-48_1738110294/pose.jsonl @@ -0,0 +1,975 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -459.22315769060265, + 571.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -456.62508147924933, + 570.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -454.027005267896, + 568.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -451.4289290565427, + 567.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -448.8308528451894, + 565.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -446.23277663383607, + 564.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -443.63470042248275, + 562.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -441.03662421112944, + 561.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -438.4385479997761, + 559.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -435.8404717884228, + 558.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -433.2423955770695, + 556.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -430.64431936571617, + 555.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -428.04624315436286, + 553.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -425.44816694300954, + 552.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -422.8500907316562, + 550.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -420.2520145203029, + 549.4112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -417.6539383089496, + 547.9112998234763, + -9.605302989641839 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -417.6539383089496, + 547.9112998234763, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -416.1539383089496, + 545.313223612123, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -414.6539383089496, + 542.7151474007696, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -413.1539383089496, + 540.1170711894163, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -411.6539383089496, + 537.5189949780629, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -410.1539383089496, + 534.9209187667095, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -408.6539383089496, + 532.3228425553561, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -407.1539383089496, + 529.7247663440028, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -405.6539383089496, + 527.1266901326494, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -404.1539383089496, + 524.528613921296, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -402.6539383089496, + 521.9305377099427, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -401.1539383089496, + 519.3324614985893, + -9.605302989641839 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -401.1539383089496, + 519.3324614985893, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -398.5558620975963, + 517.8324614985893, + -9.605302989641839 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -395.95778588624296, + 516.3324614985893, + -9.605302989641839 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -306.0643539428711, + 470.07677459716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-59-30_406011017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-59-30_406011017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1df248cb7f01058a82a364583527c68b4be25715 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_8-59-30_406011017/pose.jsonl @@ -0,0 +1,1416 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -247.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -250.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -253.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -256.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -259.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -262.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -265.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -268.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -271.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -283.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -286.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -289.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -295.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -298.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -301.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -304.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -307.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -310.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -313.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -316.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -319.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -322.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -332.9628162384033, + 682.8938217163086, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -322.3926605502789, + 668.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -414.4473571777344, + 692.0035209655762, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -324.9907367616322, + 667.2096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -327.5888129729855, + 665.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -330.18688918433884, + 664.2096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -332.78496539569215, + 662.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -335.38304160704547, + 661.2096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -337.9811178183988, + 659.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -340.5791940297521, + 658.2096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -343.1772702411054, + 656.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -345.77534645245873, + 655.2096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -348.37342266381205, + 653.7096436501965, + -9.43302212741526 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -350.97149887516537, + 652.2096436501965, + -9.43302212741526 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-17-54_1566369633/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-17-54_1566369633/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0634f5bf2c93711350e749ccba2d35026ef00d2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-17-54_1566369633/pose.jsonl @@ -0,0 +1,1724 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -285.47559273500127, + 486.96472204006477, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.97559273500127, + 489.5627982514181, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -288.47559273500127, + 492.1608744627714, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -289.97559273500127, + 494.7589506741247, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -291.47559273500127, + 497.35702688547804, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -292.97559273500127, + 499.95510309683135, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -294.47559273500127, + 502.55317930818467, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -295.97559273500127, + 505.151255519538, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -297.47559273500127, + 507.7493317308913, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -298.97559273500127, + 510.3474079422446, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -300.47559273500127, + 512.9454841535979, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -301.97559273500127, + 515.5435603649512, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -303.47559273500127, + 518.1416365763046, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.97559273500127, + 520.7397127876579, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -306.47559273500127, + 523.3377889990113, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -307.97559273500127, + 525.9358652103647, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -309.47559273500127, + 528.533941421718, + -7.824595746456474 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -309.47559273500127, + 528.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -309.47559273500127, + 531.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -309.47559273500127, + 534.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -309.47559273500127, + 537.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -281.74033641815186, + 568.0634632110596, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -309.47559273500127, + 540.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -309.47559273500127, + 543.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -309.47559273500127, + 546.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -309.47559273500127, + 549.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -309.47559273500127, + 552.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -309.47559273500127, + 555.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -309.47559273500127, + 558.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -260.7199411392212, + 609.1296615600586, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -309.47559273500127, + 561.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -309.47559273500127, + 564.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -309.47559273500127, + 567.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -309.47559273500127, + 570.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -309.47559273500127, + 573.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -309.47559273500127, + 576.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -309.47559273500127, + 579.533941421718, + -7.824595746456474 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -309.47559273500127, + 582.533941421718, + -7.824595746456474 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -330.1418514251709, + 648.1967735290527, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -280.3515796661377, + 656.0998382568359, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -353.1334648132324, + 652.8639297485352, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -355.05054092407227, + 655.1156425476074, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -310.2634754180908, + 584.025821685791, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-18-40_483689685/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-18-40_483689685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b3275bf075a87d84dde93af1855c0f04ee18231 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-18-40_483689685/pose.jsonl @@ -0,0 +1,1214 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -748.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -729.2490844726563, + 208.89758682250977, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -745.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -742.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -736.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -733.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -730.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -721.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -718.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -715.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -712.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -709.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -703.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -641.9892883300781, + 165.3961944580078, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -700.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -697.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -694.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -637.7749824523926, + 276.4634304046631, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -691.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -673.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -670.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -667.5208876133089, + 221.25507732995482, + -1.0190419910041548 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -607.4225940704346, + 236.8795051574707, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -665.4914093017578, + 220.9239959716797, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-23-50_441767868/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-23-50_441767868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25afa7504ab42cc2a7796c7df367ce374d47b2a8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-23-50_441767868/pose.jsonl @@ -0,0 +1,1819 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -766.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -740.0974159240723, + 764.462329864502, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -763.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -760.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -757.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -754.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -751.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -742.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -739.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -736.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -733.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -730.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -727.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -724.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -721.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -718.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -715.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -712.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -695.8050575256348, + 751.1955108642578, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -709.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -703.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -697.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -691.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -636.3482284545898, + 792.3813362121582, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -688.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -685.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -682.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -679.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -673.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -667.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -664.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -661.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -658.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -655.5294188277476, + 740.1130606646161, + -8.392017658588674 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -618.2195739746094, + 720.5517921447754, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -580.2850952148438, + 702.423282623291, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -654.2207412719727, + 742.9379501342773, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-31-32_460686763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-31-32_460686763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9369c43a0110f92d494e1d5e99032e712903607a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-31-32_460686763/pose.jsonl @@ -0,0 +1,1078 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -827.5814428839235, + 448.9550643651894, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 1, + "pos": [ + -829.0814428839235, + 446.3569881538361, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -830.5814428839235, + 443.75891194248277, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -832.0814428839235, + 441.16083573112945, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 4, + "pos": [ + -833.5814428839235, + 438.56275951977614, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 5, + "pos": [ + -835.0814428839235, + 435.9646833084228, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 6, + "pos": [ + -836.5814428839235, + 433.3666070970695, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 7, + "pos": [ + -838.0814428839235, + 430.7685308857162, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [] +} +{ + "action": { + "imageid": 8, + "pos": [ + -839.5814428839235, + 428.1704546743629, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.0814428839235, + 425.57237846300956, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -842.5814428839235, + 422.97430225165624, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -844.0814428839235, + 420.3762260403029, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -845.5814428839235, + 417.7781498289496, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -847.0814428839235, + 415.1800736175963, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -848.5814428839235, + 412.581997406243, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -850.0814428839235, + 409.98392119488966, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -851.5814428839235, + 407.38584498353634, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -853.0814428839235, + 404.78776877218303, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -854.5814428839235, + 402.1896925608297, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -856.0814428839235, + 399.5916163494764, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -857.5814428839235, + 396.9935401381231, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -859.0814428839235, + 394.39546392676976, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -860.5814428839235, + 391.79738771541645, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -862.0814428839235, + 389.19931150406313, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -863.5814428839235, + 386.6012352927098, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -865.0814428839235, + 384.0031590813565, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -866.5814428839235, + 381.4050828700032, + -29.075008866822728 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -866.5814428839235, + 381.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -866.5814428839235, + 378.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -866.5814428839235, + 375.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -866.5814428839235, + 372.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -866.5814428839235, + 369.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -866.5814428839235, + 366.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -866.5814428839235, + 363.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -866.5814428839235, + 360.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -866.5814428839235, + 357.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -866.5814428839235, + 354.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -866.5814428839235, + 351.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 38, + "pos": [ + -866.5814428839235, + 348.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 39, + "pos": [ + -866.5814428839235, + 345.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 40, + "pos": [ + -866.5814428839235, + 342.4050828700032, + -29.075008866822728 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 41, + "pos": [ + -866.5814428839235, + 339.4050828700032, + -29.075008866822728 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -865.4820938110352, + 338.6921920776367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-38-41_1434433518/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-38-41_1434433518/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..541c3d0ef51c4a312ce7cf49bb615907faa8f728 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-38-41_1434433518/pose.jsonl @@ -0,0 +1,1439 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -800.4036018181397, + 535.0745618334565, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -798.9036018181397, + 532.4764856221032, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + -797.4036018181397, + 529.8784094107498, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + -795.9036018181397, + 527.2803331993964, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -794.4036018181397, + 524.682256988043, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -792.9036018181397, + 522.0841807766897, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -791.4036018181397, + 519.4861045653363, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.9036018181397, + 516.8880283539829, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -788.4036018181397, + 514.2899521426295, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -786.9036018181397, + 511.69187593127623, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -785.4036018181397, + 509.0937997199229, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -783.9036018181397, + 506.4957235085696, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -782.4036018181397, + 503.8976472972163, + -10.785729115183901 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -779.4345855712891, + 494.56167793273926, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -782.4036018181397, + 503.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -779.8055256067864, + 502.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -777.2074493954331, + 500.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -774.6093731840797, + 499.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -772.0112969727263, + 497.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -769.4132207613729, + 496.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -766.8151445500196, + 494.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -764.2170683386662, + 493.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -761.6189921273128, + 491.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -759.0209159159594, + 490.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.4228397046061, + 488.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -753.8247634932527, + 487.3976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -679.8386764526367, + 506.54336738586426, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -751.2266872818993, + 485.8976472972163, + -10.785729115183901 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -751.2266872818993, + 485.8976472972163, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -749.7266872818993, + 483.29957108586296, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -748.2266872818993, + 480.70149487450965, + -10.785729115183901 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -746.7266872818993, + 478.10341866315633, + -10.785729115183901 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -705.5029983520508, + 454.1358337402344, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -743.1016082763672, + 476.3916015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-41-59_550245196/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-41-59_550245196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9942db2d8d8a8bda514777cd4dc488251fdb7ea1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-41-59_550245196/pose.jsonl @@ -0,0 +1,977 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 66.76512069157597, + 354.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + 64.16704448022266, + 356.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 2, + "pos": [ + 61.56896826886934, + 357.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 3, + "pos": [ + 58.970892057516025, + 359.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + 56.37281584616271, + 360.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + 53.77473963480939, + 362.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + 51.17666342345608, + 363.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + 48.57858721210276, + 365.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.980511000749445, + 366.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + 43.38243478939613, + 368.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + 40.78435857804281, + 369.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + 38.1862823666895, + 371.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + 35.58820615533618, + 372.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + 32.990129943982865, + 374.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + 30.39205373262955, + 375.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.793977521276233, + 377.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + 25.195901309922917, + 378.96847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + 22.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + 16.32062566280365, + 400.3249206542969, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + 22.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 19, + "pos": [ + 19.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 20, + "pos": [ + 16.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 21, + "pos": [ + 13.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 22, + "pos": [ + 10.5978250985696, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 23, + "pos": [ + 7.597825098569601, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 24, + "pos": [ + 4.597825098569601, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 25, + "pos": [ + 1.5978250985696008, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 26, + "pos": [ + -1.4021749014303992, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.402174901430399, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.402174901430399, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 29, + "pos": [ + -10.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 30, + "pos": [ + -13.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 31, + "pos": [ + -16.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 32, + "pos": [ + -19.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 33, + "pos": [ + -22.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "action": { + "imageid": 34, + "pos": [ + -25.4021749014304, + 380.46847537790467, + -14.680563381777505 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + }, + "objects": [] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -27.445682883262634, + 383.5336170196533, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-45-41_1140384172/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-45-41_1140384172/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97a30170961a91c4644a3cd41c5e44243c8a5a8b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-30_9-45-41_1140384172/pose.jsonl @@ -0,0 +1,1804 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -443.73264768362776, + 463.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -394.3976402282715, + 515.07497215271, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 1, + "pos": [ + -443.73264768362776, + 466.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 2, + "pos": [ + -443.73264768362776, + 469.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [] +} +{ + "action": { + "imageid": 3, + "pos": [ + -443.73264768362776, + 472.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 4, + "pos": [ + -443.73264768362776, + 475.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 5, + "pos": [ + -443.73264768362776, + 478.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 6, + "pos": [ + -443.73264768362776, + 481.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 7, + "pos": [ + -443.73264768362776, + 484.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 8, + "pos": [ + -443.73264768362776, + 487.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 9, + "pos": [ + -443.73264768362776, + 490.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 10, + "pos": [ + -443.73264768362776, + 493.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 11, + "pos": [ + -443.73264768362776, + 496.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 12, + "pos": [ + -443.73264768362776, + 499.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 13, + "pos": [ + -443.73264768362776, + 502.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 14, + "pos": [ + -443.73264768362776, + 505.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 15, + "pos": [ + -443.73264768362776, + 508.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 16, + "pos": [ + -443.73264768362776, + 511.5939542576103, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 17, + "pos": [ + -443.73264768362776, + 514.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 18, + "pos": [ + -443.73264768362776, + 517.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 19, + "pos": [ + -443.73264768362776, + 520.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 20, + "pos": [ + -443.73264768362776, + 523.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 21, + "pos": [ + -443.73264768362776, + 526.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 22, + "pos": [ + -443.73264768362776, + 529.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 23, + "pos": [ + -443.73264768362776, + 532.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 24, + "pos": [ + -443.73264768362776, + 535.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 25, + "pos": [ + -443.73264768362776, + 538.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -499.3356685638428, + 599.240665435791, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 26, + "pos": [ + -443.73264768362776, + 541.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 27, + "pos": [ + -443.73264768362776, + 544.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 28, + "pos": [ + -443.73264768362776, + 547.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 29, + "pos": [ + -443.73264768362776, + 550.5939542576102, + -26.34698261662296 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -459.1201229095459, + 590.1524925231934, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "RIGHT", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 30, + "pos": [ + -443.73264768362776, + 550.5939542576102, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 31, + "pos": [ + -442.23264768362776, + 553.1920304689636, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 32, + "pos": [ + -440.73264768362776, + 555.790106680317, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 33, + "pos": [ + -439.23264768362776, + 558.3881828916703, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 34, + "pos": [ + -437.73264768362776, + 560.9862591030237, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 35, + "pos": [ + -436.23264768362776, + 563.5843353143771, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 36, + "pos": [ + -434.73264768362776, + 566.1824115257305, + -26.34698261662296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "action": { + "imageid": 37, + "pos": [ + -433.23264768362776, + 568.7804877370838, + -26.34698261662296 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + }, + "objects": [ + { + "color": "test", + "feature": "test", + "position": [ + -406.8520393371582, + 616.3035850524902, + 0.0 + ], + "relateinfov": "CENTER", + "shape": "test", + "size": "test", + "type": "building" + }, + { + "color": "test", + "feature": "test", + "position": [ + -442.4722194671631, + 633.5229148864746, + 0.0 + ], + "relateinfov": "LEFT", + "shape": "test", + "size": "test", + "type": "building" + } + ] +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -432.77319145202637, + 570.0605564117432, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-58-0_1804289383/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-58-0_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..57d2427e37f5b4fdbe1665ae73142b6f6aed539f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_13-58-0_1804289383/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -406.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -409.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -412.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -415.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -418.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -421.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -424.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -427.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -430.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -433.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -436.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -439.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -442.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -445.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -448.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -451.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -454.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -457.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -460.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -463.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -466.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -469.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -472.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -475.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -478.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -481.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -484.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -487.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -490.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -493.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -496.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -499.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -499.19935248698636, + -216.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -501.7974286983397, + -218.18785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -504.395504909693, + -219.68785388599042, + -3.524628197475814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -506.9935811210463, + -221.18785388599042, + -3.524628197475814 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-31_1937477084/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-31_1937477084/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8359cf666d97cf8cc7eb8edab62f150b8064b432 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-31_1937477084/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -553.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -556.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -559.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -562.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -565.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -568.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -571.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -574.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -577.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -580.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -583.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -586.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -589.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -592.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -595.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -598.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -601.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -604.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -607.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -610.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -613.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -616.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -619.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -622.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -625.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -628.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -631.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -631.0703553254361, + 478.03941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -633.6684315367895, + 479.53941109271176, + 1.8850470249458766 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -636.2665077481429, + 481.03941109271176, + 1.8850470249458766 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-46_1827336327/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-46_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e0dba0c91d4ee806d0dec6cd43ced70962fd227 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-14-46_1827336327/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.05566334225927, + 613.541608240516, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 394.55566334225927, + 610.9435320291627, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 396.05566334225927, + 608.3454558178094, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 397.55566334225927, + 605.747379606456, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 399.05566334225927, + 603.1493033951026, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 400.55566334225927, + 600.5512271837492, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 402.05566334225927, + 597.9531509723959, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 403.55566334225927, + 595.3550747610425, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 405.05566334225927, + 592.7569985496891, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 406.55566334225927, + 590.1589223383357, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 408.05566334225927, + 587.5608461269824, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 409.55566334225927, + 584.962769915629, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 411.05566334225927, + 582.3646937042756, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 412.55566334225927, + 579.7666174929223, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 414.05566334225927, + 577.1685412815689, + 2.8930747427118266 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 414.05566334225927, + 577.1685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 416.6537395536126, + 575.6685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 419.2518157649659, + 574.1685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 421.8498919763192, + 572.6685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 424.44796818767253, + 571.1685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 427.04604439902585, + 569.6685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 429.64412061037916, + 568.1685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 432.2421968217325, + 566.6685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 434.8402730330858, + 565.1685412815689, + 2.8930747427118266 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 437.4383492444391, + 563.6685412815689, + 2.8930747427118266 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-4_610515434/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-4_610515434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47f7edc2cf68b47ea863a10048249b8c246089d3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-18-4_610515434/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 202.02404151218246, + -251.1918747854706, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 200.52404151218246, + -253.7899509968239, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.02404151218246, + -256.3880272081772, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 197.52404151218246, + -258.98610341953054, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 196.02404151218246, + -261.58417963088385, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 194.52404151218246, + -264.18225584223717, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 193.02404151218246, + -266.7803320535905, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 191.52404151218246, + -269.3784082649438, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 190.02404151218246, + -271.9764844762971, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 188.52404151218246, + -274.57456068765043, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 187.02404151218246, + -277.17263689900375, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 185.52404151218246, + -279.77071311035706, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 184.02404151218246, + -282.3687893217104, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 182.52404151218246, + -284.9668655330637, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 181.02404151218246, + -287.564941744417, + 0.03619964291196354 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 181.02404151218246, + -287.564941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 178.42596530082915, + -289.064941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 175.82788908947583, + -290.564941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 173.22981287812252, + -292.064941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 170.6317366667692, + -293.564941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 168.03366045541588, + -295.064941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 165.43558424406257, + -296.564941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 162.83750803270925, + -298.064941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 160.23943182135594, + -299.564941744417, + 0.03619964291196354 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 157.64135561000262, + -301.064941744417, + 0.03619964291196354 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-2-59_1303455736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-2-59_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..88d7e0c5b31554fafc1d5a810b76ab00adb3f551 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-2-59_1303455736/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.6455630647366, + 332.16405992748486, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -623.1455630647366, + 329.56598371613154, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -624.6455630647366, + 326.9679075047782, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -626.1455630647366, + 324.3698312934249, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -627.6455630647366, + 321.7717550820716, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -629.1455630647366, + 319.1736788707183, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -630.6455630647366, + 316.57560265936496, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -632.1455630647366, + 313.97752644801164, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -633.6455630647366, + 311.37945023665833, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -635.1455630647366, + 308.781374025305, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -636.6455630647366, + 306.1832978139517, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -638.1455630647366, + 303.5852216025984, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -639.6455630647366, + 300.98714539124506, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -641.1455630647366, + 298.38906917989175, + 3.6805466277019914 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -641.1455630647366, + 298.38906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -643.7436392760899, + 296.88906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -646.3417154874433, + 295.38906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -648.9397916987966, + 293.88906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.53786791015, + 292.38906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -654.1359441215034, + 290.88906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -656.7340203328567, + 289.38906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -659.3320965442101, + 287.88906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -661.9301727555635, + 286.38906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -664.5282489669169, + 284.88906917989175, + 3.6805466277019914 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -664.5282489669169, + 284.88906917989175, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -666.0282489669169, + 282.29099296853843, + 3.6805466277019914 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -667.5282489669169, + 279.6929167571851, + 3.6805466277019914 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-21-45_2053999932/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-21-45_2053999932/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab7ac57541648b9ddb027e1686bad426c19f5be6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-21-45_2053999932/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 218.1932027472975, + 687.5785414069572, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 215.5951265359442, + 689.0785414069572, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 212.99705032459087, + 690.5785414069572, + 1.601176940666611 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 212.99705032459087, + 690.5785414069572, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 211.49705032459087, + 693.1766176183105, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 209.99705032459087, + 695.7746938296639, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 208.49705032459087, + 698.3727700410172, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 206.99705032459087, + 700.9708462523706, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 205.49705032459087, + 703.568922463724, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 203.99705032459087, + 706.1669986750774, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 202.49705032459087, + 708.7650748864307, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 200.99705032459087, + 711.3631510977841, + 1.601176940666611 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 200.99705032459087, + 711.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 200.99705032459087, + 714.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 200.99705032459087, + 717.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 200.99705032459087, + 720.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 200.99705032459087, + 723.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 200.99705032459087, + 726.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 200.99705032459087, + 729.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 200.99705032459087, + 732.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 200.99705032459087, + 735.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 200.99705032459087, + 738.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 200.99705032459087, + 741.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 200.99705032459087, + 744.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 200.99705032459087, + 747.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 200.99705032459087, + 750.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 200.99705032459087, + 753.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 200.99705032459087, + 756.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 200.99705032459087, + 759.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 200.99705032459087, + 762.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 200.99705032459087, + 765.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 200.99705032459087, + 768.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 200.99705032459087, + 771.3631510977841, + 1.601176940666611 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 200.99705032459087, + 774.3631510977841, + 1.601176940666611 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-46_463480570/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-46_463480570/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2213f3e4121b675810a09a0241d7f540d582428b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-24-46_463480570/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -967.2686740001369, + 281.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -967.2686740001369, + 284.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -967.2686740001369, + 287.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.2686740001369, + 290.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -967.2686740001369, + 293.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -967.2686740001369, + 296.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -967.2686740001369, + 299.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -967.2686740001369, + 302.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -967.2686740001369, + 305.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -967.2686740001369, + 308.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -967.2686740001369, + 311.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -967.2686740001369, + 314.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -967.2686740001369, + 317.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.2686740001369, + 320.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -967.2686740001369, + 323.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -967.2686740001369, + 326.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -967.2686740001369, + 329.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -967.2686740001369, + 332.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -967.2686740001369, + 335.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -967.2686740001369, + 338.8117789332488, + -1.4970325127853865 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -967.2686740001369, + 338.8117789332488, + -1.4970325127853865 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -967.2686740001369, + 338.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -969.8667502114902, + 340.3117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -972.4648264228435, + 341.8117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -975.0629026341969, + 343.3117789332488, + -1.4970325127853865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -977.6609788455503, + 344.8117789332488, + -1.4970325127853865 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-27-45_485560280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-27-45_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bb6b1e058cf23761e63aebd609a202e7e948c00c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-27-45_485560280/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -772.9692078576145, + 295.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -770.3711316462611, + 293.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -767.7730554349077, + 292.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -765.1749792235544, + 290.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.576903012201, + 289.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -759.9788268008476, + 287.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -757.3807505894943, + 286.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -754.7826743781409, + 284.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -752.1845981667875, + 283.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -749.5865219554341, + 281.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -746.9884457440808, + 280.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -744.3903695327274, + 278.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -741.792293321374, + 277.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -739.1942171100206, + 275.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -736.5961408986673, + 274.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -733.9980646873139, + 272.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -731.3999884759605, + 271.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -728.8019122646072, + 269.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -726.2038360532538, + 268.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -723.6057598419004, + 266.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -721.007683630547, + 265.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -718.4096074191937, + 263.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -715.8115312078403, + 262.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -713.2134549964869, + 260.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -710.6153787851335, + 259.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -708.0173025737802, + 257.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -705.4192263624268, + 256.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -702.8211501510734, + 254.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.22307393972, + 253.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -697.6249977283667, + 251.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -695.0269215170133, + 250.07647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.4288453056599, + 248.57647689360823, + 4.680123960663943 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -692.4288453056599, + 248.57647689360823, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -690.9288453056599, + 245.97840068225491, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -689.4288453056599, + 243.3803244709016, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -687.9288453056599, + 240.78224825954828, + 4.680123960663943 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -686.4288453056599, + 238.18417204819497, + 4.680123960663943 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-3-48_294702567/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-3-48_294702567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c9a3a902fc76ad368784b9ffb0b1210e6318561 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-3-48_294702567/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 84.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 81.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 78.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 75.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 72.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 66.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 63.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 60.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 57.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 54.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 51.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 48.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 42.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 39.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 36.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 33.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 30.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 30.39613453775405, + -229.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 27.798058326400735, + -230.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 25.19998211504742, + -232.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 22.601905903694103, + -233.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.003829692340787, + -235.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 17.40575348098747, + -236.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.807677269634155, + -238.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 12.209601058280839, + -239.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 9.611524846927523, + -241.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 7.013448635574207, + -242.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 4.415372424220891, + -244.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1.817296212867575, + -245.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -0.7807799984857411, + -247.12928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -3.378856209839057, + -248.62928515522393, + -1.6068912389375218 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -5.976932421192373, + -250.12928515522393, + -1.6068912389375218 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-33-35_524872353/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-33-35_524872353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..764979816537e95e154a4ded00d16f25e55e2ea1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-33-35_524872353/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 465.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 468.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 471.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 474.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 477.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 480.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 483.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 489.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 492.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 495.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 498.99347219230265, + 251.01662875408138, + 0.12720213884905274 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-35-56_1120048829/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-35-56_1120048829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41932128edf3e3edba147e0f1fe8b7e16e485cdf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-35-56_1120048829/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -648.117182807258, + -7.095647030053939, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -648.117182807258, + -4.095647030053939, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.117182807258, + -1.0956470300539394, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.117182807258, + 1.9043529699460606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -648.117182807258, + 4.904352969946061, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -648.117182807258, + 7.904352969946061, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -648.117182807258, + 10.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -648.117182807258, + 13.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -648.117182807258, + 16.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -648.117182807258, + 19.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.117182807258, + 22.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -648.117182807258, + 25.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -648.117182807258, + 28.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.117182807258, + 31.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -648.117182807258, + 34.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -648.117182807258, + 37.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -648.117182807258, + 40.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -648.117182807258, + 43.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -648.117182807258, + 46.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -648.117182807258, + 49.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -648.117182807258, + 52.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -648.117182807258, + 55.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -648.117182807258, + 58.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.117182807258, + 61.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -648.117182807258, + 64.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -648.117182807258, + 67.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -648.117182807258, + 70.90435296994606, + 2.5399146907534744 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -648.117182807258, + 70.90435296994606, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -649.617182807258, + 73.50242918129938, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -651.117182807258, + 76.10050539265269, + 2.5399146907534744 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -651.117182807258, + 76.10050539265269, + 2.5399146907534744 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -653.7152590186113, + 77.60050539265269, + 2.5399146907534744 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-38-0_1631518149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-38-0_1631518149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1346f405a98eeb94cf4b23edcfc708a34db85e50 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-38-0_1631518149/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -741.7921188006617, + 134.26869792458928, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -743.2921188006617, + 131.67062171323596, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -744.7921188006617, + 129.07254550188264, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -746.2921188006617, + 126.47446929052933, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -747.7921188006617, + 123.87639307917601, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -749.2921188006617, + 121.2783168678227, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -750.7921188006617, + 118.68024065646938, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -752.2921188006617, + 116.08216444511606, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.7921188006617, + 113.48408823376275, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.2921188006617, + 110.88601202240943, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -756.7921188006617, + 108.28793581105612, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -758.2921188006617, + 105.6898595997028, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -759.7921188006617, + 103.09178338834948, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.2921188006617, + 100.49370717699617, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -762.7921188006617, + 97.89563096564285, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -764.2921188006617, + 95.29755475428954, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.7921188006617, + 92.69947854293622, + -3.796728185803784 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.7921188006617, + 92.69947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -768.390195012015, + 91.19947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -770.9882712233684, + 89.69947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -773.5863474347218, + 88.19947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.1844236460752, + 86.69947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.7824998574285, + 85.19947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.3805760687819, + 83.69947854293622, + -3.796728185803784 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.9786522801353, + 82.19947854293622, + -3.796728185803784 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-18_336465782/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-18_336465782/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0147d70f58bbe9f595665b8851d9b650facba916 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-18_336465782/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 208.8230567669867, + 694.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 208.8230567669867, + 697.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 208.8230567669867, + 700.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 208.8230567669867, + 703.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.8230567669867, + 706.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 208.8230567669867, + 709.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 208.8230567669867, + 712.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 208.8230567669867, + 715.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 208.8230567669867, + 718.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 208.8230567669867, + 721.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 208.8230567669867, + 724.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 208.8230567669867, + 727.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 208.8230567669867, + 730.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 208.8230567669867, + 733.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.8230567669867, + 736.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 208.8230567669867, + 739.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 208.8230567669867, + 742.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 208.8230567669867, + 745.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 208.8230567669867, + 748.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 208.8230567669867, + 751.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 208.8230567669867, + 754.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 208.8230567669867, + 757.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 208.8230567669867, + 760.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 208.8230567669867, + 763.6821924102044, + -4.231424224868313 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 208.8230567669867, + 763.6821924102044, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 207.3230567669867, + 766.2802686215578, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 205.8230567669867, + 768.8783448329111, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 204.3230567669867, + 771.4764210442645, + -4.231424224868313 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 202.8230567669867, + 774.0744972556179, + -4.231424224868313 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-33_861021530/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-33_861021530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96627f5a23a0b6a471e764fc3a59ddd43e6eaed6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-4-33_861021530/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -747.1563641399196, + -48.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -749.7544403512729, + -47.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -752.3525165626263, + -45.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -754.9505927739797, + -44.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -757.548668985333, + -42.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -760.1467451966864, + -41.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -762.7448214080398, + -39.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.3428976193932, + -38.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -767.9409738307465, + -36.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -770.5390500420999, + -35.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -773.1371262534533, + -33.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -775.7352024648067, + -32.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -778.33327867616, + -30.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -780.9313548875134, + -29.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.5294310988668, + -27.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -786.1275073102202, + -26.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -788.7255835215735, + -24.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -791.3236597329269, + -23.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -793.9217359442803, + -21.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -796.5198121556336, + -20.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -799.117888366987, + -18.60612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -801.7159645783404, + -17.10612850777713, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -804.3140407896938, + -15.606128507777129, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -806.9121170010471, + -14.106128507777129, + 0.3225512022562027 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -806.9121170010471, + -14.106128507777129, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -808.4121170010471, + -11.508052296423813, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -809.9121170010471, + -8.909976085070497, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -811.4121170010471, + -6.311899873717181, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -812.9121170010471, + -3.7138236623638647, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -814.4121170010471, + -1.1157474510105487, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -815.9121170010471, + 1.4823287603427673, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -817.4121170010471, + 4.080404971696083, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -818.9121170010471, + 6.678481183049399, + 0.3225512022562027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -820.4121170010471, + 9.276557394402715, + 0.3225512022562027 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-40-29_1622597488/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-40-29_1622597488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc51260322699498e0c216e4a07e116b5338386b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-40-29_1622597488/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -652.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -655.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -658.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -661.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -664.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -667.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -673.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -676.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -679.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -682.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -688.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -691.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -697.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -700.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -703.3421729503133, + 117.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -705.9402491616665, + 118.88617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.5383253730199, + 120.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -711.1364015843733, + 121.88617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -713.7344777957267, + 123.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -716.33255400708, + 124.88617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -718.9306302184334, + 126.38617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -721.5287064297868, + 127.88617667683613, + 4.327315164721103 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -724.1267826411402, + 129.38617667683613, + 4.327315164721103 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-20_1914544919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-20_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..76e6f17216f1433e1af9acbec49086c2935502e5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-20_1914544919/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -633.4531847149987, + 147.85599839903927, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -634.9531847149987, + 150.45407461039258, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -636.4531847149987, + 153.0521508217459, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -637.9531847149987, + 155.6502270330992, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -639.4531847149987, + 158.24830324445253, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -640.9531847149987, + 160.84637945580585, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -642.4531847149987, + 163.44445566715916, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -643.9531847149987, + 166.04253187851248, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -645.4531847149987, + 168.6406080898658, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -646.9531847149987, + 171.2386843012191, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.4531847149987, + 173.83676051257243, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -649.9531847149987, + 176.43483672392574, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -651.4531847149987, + 179.03291293527906, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -652.9531847149987, + 181.63098914663237, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -654.4531847149987, + 184.2290653579857, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -655.9531847149987, + 186.827141569339, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.4531847149987, + 189.42521778069232, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.9531847149987, + 192.02329399204564, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -660.4531847149987, + 194.62137020339895, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -661.9531847149987, + 197.21944641475227, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -663.4531847149987, + 199.81752262610559, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -664.9531847149987, + 202.4155988374589, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.4531847149987, + 205.01367504881222, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.9531847149987, + 207.61175126016553, + 4.024935244170006 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -667.9531847149987, + 207.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.5512609263519, + 209.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.1493371377053, + 210.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -675.7474133490587, + 212.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -678.345489560412, + 213.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -680.9435657717654, + 215.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.5416419831188, + 216.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -686.1397181944722, + 218.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -688.7377944058255, + 219.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -691.3358706171789, + 221.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -693.9339468285323, + 222.61175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -696.5320230398856, + 224.11175126016553, + 4.024935244170006 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -696.5320230398856, + 224.11175126016553, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -698.0320230398856, + 226.70982747151885, + 4.024935244170006 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -699.5320230398856, + 229.30790368287217, + 4.024935244170006 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-53_756898537/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-53_756898537/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afd03b6e9c4383cca34268e0ea6a06f1512b6e22 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_14-9-53_756898537/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -757.090584647989, + 284.11114876795205, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -755.590584647989, + 281.51307255659873, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -754.090584647989, + 278.9149963452454, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -752.590584647989, + 276.3169201338921, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.090584647989, + 273.7188439225388, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -749.590584647989, + 271.12076771118547, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.090584647989, + 268.52269149983215, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.590584647989, + 265.92461528847883, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -745.090584647989, + 263.3265390771255, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -743.590584647989, + 260.7284628657722, + 1.9719821556315695 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -743.590584647989, + 260.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -740.9925084366357, + 259.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -738.3944322252823, + 257.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -735.796356013929, + 256.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.1982798025756, + 254.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -730.6002035912222, + 253.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -728.0021273798689, + 251.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -725.4040511685155, + 250.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -722.8059749571621, + 248.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -720.2078987458087, + 247.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -717.6098225344554, + 245.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -715.011746323102, + 244.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -712.4136701117486, + 242.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -709.8155939003952, + 241.2284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.2175176890419, + 239.7284628657722, + 1.9719821556315695 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.2175176890419, + 239.7284628657722, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -705.7175176890419, + 237.13038665441888, + 1.9719821556315695 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -704.2175176890419, + 234.53231044306557, + 1.9719821556315695 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-57-33_719885386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-57-33_719885386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2aa81b107cb884db8f70681be230c40937015e91 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_21-57-33_719885386/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -736.8553892221662, + 344.70409463207477, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.3553892221662, + 342.10601842072145, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -733.8553892221662, + 339.50794220936814, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -732.3553892221662, + 336.9098659980148, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -730.8553892221662, + 334.3117897866615, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.3553892221662, + 331.7137135753082, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.8553892221662, + 329.1156373639549, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -726.3553892221662, + 326.51756115260156, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.8553892221662, + 323.91948494124824, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.3553892221662, + 321.3214087298949, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -721.8553892221662, + 318.7233325185416, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.3553892221662, + 316.1252563071883, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -718.8553892221662, + 313.527180095835, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -717.3553892221662, + 310.92910388448166, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -715.8553892221662, + 308.33102767312835, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.3553892221662, + 305.73295146177503, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -712.8553892221662, + 303.1348752504217, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -711.3553892221662, + 300.5367990390684, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -709.8553892221662, + 297.9387228277151, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.3553892221662, + 295.34064661636177, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.8553892221662, + 292.74257040500845, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -705.3553892221662, + 290.14449419365513, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -703.8553892221662, + 287.5464179823018, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -702.3553892221662, + 284.9483417709485, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -700.8553892221662, + 282.3502655595952, + 2.970447321227301 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -700.8553892221662, + 282.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -700.8553892221662, + 279.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -700.8553892221662, + 276.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.8553892221662, + 273.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.8553892221662, + 270.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -700.8553892221662, + 267.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -700.8553892221662, + 264.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -700.8553892221662, + 261.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.8553892221662, + 258.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.8553892221662, + 255.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -700.8553892221662, + 252.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -700.8553892221662, + 249.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -700.8553892221662, + 246.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -700.8553892221662, + 243.3502655595952, + 2.970447321227301 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -700.8553892221662, + 240.3502655595952, + 2.970447321227301 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-1-47_35005211/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-1-47_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b4fa843909b2dadeae12b402abef9cb36b92e7a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-1-47_35005211/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -299.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -302.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -305.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -308.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -311.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -314.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -317.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -320.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -323.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -326.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -329.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -332.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -335.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -338.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -341.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -344.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -347.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -350.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -353.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -356.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -359.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -362.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -365.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -368.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -371.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -374.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -377.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -380.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -383.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -386.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -389.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -392.91504478227154, + -179.77800717231344, + 4.396233345129941 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-11-56_982906996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-11-56_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8bfddb650e9d1cb1b4873437298a5feadaf585c2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-11-56_982906996/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -307.73541066090746, + -23.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -307.73541066090746, + -26.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.73541066090746, + -29.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -307.73541066090746, + -32.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -307.73541066090746, + -35.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -307.73541066090746, + -38.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -307.73541066090746, + -41.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -307.73541066090746, + -44.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -307.73541066090746, + -47.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -307.73541066090746, + -50.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -307.73541066090746, + -53.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.73541066090746, + -56.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -307.73541066090746, + -59.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -307.73541066090746, + -62.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -307.73541066090746, + -65.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -307.73541066090746, + -68.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -307.73541066090746, + -71.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.73541066090746, + -74.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -307.73541066090746, + -77.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -307.73541066090746, + -80.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -307.73541066090746, + -83.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -307.73541066090746, + -86.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.73541066090746, + -89.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -307.73541066090746, + -92.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -307.73541066090746, + -95.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.73541066090746, + -98.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -307.73541066090746, + -101.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -307.73541066090746, + -104.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -307.73541066090746, + -107.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -307.73541066090746, + -110.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -307.73541066090746, + -113.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -307.73541066090746, + -116.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -307.73541066090746, + -119.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -307.73541066090746, + -122.60834837937894, + 3.68273972151375 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -307.73541066090746, + -122.60834837937894, + 3.68273972151375 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -307.73541066090746, + -122.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -310.3334868722608, + -124.10834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -312.9315630836141, + -125.60834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -315.5296392949674, + -127.10834837937894, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -318.1277155063207, + -128.60834837937892, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -320.72579171767404, + -130.10834837937892, + 3.68273972151375 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -323.32386792902736, + -131.60834837937892, + 3.68273972151375 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-32_1548233367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-32_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdc77bc5a25d05e229e8645aea920806fcafbd98 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-32_1548233367/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -496.9674438925897, + -254.56189985610771, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -498.4674438925897, + -257.159976067461, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -499.9674438925897, + -259.7580522788143, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -501.4674438925897, + -262.35612849016763, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -502.9674438925897, + -264.95420470152095, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -504.4674438925897, + -267.55228091287427, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -505.9674438925897, + -270.1503571242276, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -507.4674438925897, + -272.7484333355809, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -508.9674438925897, + -275.3465095469342, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -510.4674438925897, + -277.94458575828753, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -511.9674438925897, + -280.54266196964085, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -513.4674438925897, + -283.14073818099416, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -514.9674438925897, + -285.7388143923475, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -516.4674438925897, + -288.3368906037008, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -517.9674438925897, + -290.9349668150541, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -519.4674438925897, + -293.5330430264074, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -520.9674438925897, + -296.13111923776074, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -522.4674438925897, + -298.72919544911406, + -4.46965688526837 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -522.4674438925897, + -298.72919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -525.0655201039431, + -300.22919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -527.6635963152964, + -301.72919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -530.2616725266498, + -303.22919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -532.8597487380032, + -304.72919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -535.4578249493566, + -306.22919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -538.0559011607099, + -307.72919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -540.6539773720633, + -309.22919544911406, + -4.46965688526837 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -543.2520535834167, + -310.72919544911406, + -4.46965688526837 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-46_610515434/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-46_610515434/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..812712eab2f2645fb03201aef4333cc3f4ecdbdd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-16-46_610515434/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 117.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 120.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 123.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 126.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 129.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 132.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 135.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 138.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 141.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 144.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 147.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 150.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 153.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 153.78461343199396, + 732.321246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 156.38268964334728, + 730.821246830372, + -1.4489466385219494 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 156.38268964334728, + 730.821246830372, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 157.88268964334728, + 728.2231706190187, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 159.38268964334728, + 725.6250944076653, + -1.4489466385219494 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 159.38268964334728, + 725.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 161.9807658547006, + 724.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 164.5788420660539, + 722.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 167.17691827740722, + 721.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 169.77499448876054, + 719.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 172.37307070011386, + 718.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 174.97114691146717, + 716.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 177.5692231228205, + 715.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 180.1672993341738, + 713.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 182.76537554552712, + 712.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 185.36345175688044, + 710.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 187.96152796823375, + 709.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 190.55960417958707, + 707.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 193.15768039094038, + 706.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 195.7557566022937, + 704.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 198.35383281364702, + 703.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 200.95190902500033, + 701.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 203.54998523635365, + 700.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 206.14806144770697, + 698.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 208.74613765906028, + 697.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 211.3442138704136, + 695.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 213.9422900817669, + 694.1250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 216.54036629312023, + 692.6250944076653, + -1.4489466385219494 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 219.13844250447355, + 691.1250944076653, + -1.4489466385219494 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-23_1474612399/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-23_1474612399/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ec95ce07a463c02264a8c1087feb23e21a55664 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-20-23_1474612399/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -412.4052429284818, + -277.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -412.4052429284818, + -274.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -412.4052429284818, + -271.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -412.4052429284818, + -268.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -412.4052429284818, + -265.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -412.4052429284818, + -262.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -412.4052429284818, + -259.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -412.4052429284818, + -256.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -412.4052429284818, + -253.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -412.4052429284818, + -250.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -412.4052429284818, + -247.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -412.4052429284818, + -244.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -412.4052429284818, + -241.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -412.4052429284818, + -238.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -412.4052429284818, + -235.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -412.4052429284818, + -232.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -412.4052429284818, + -229.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -412.4052429284818, + -226.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -412.4052429284818, + -223.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -412.4052429284818, + -220.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -412.4052429284818, + -217.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -412.4052429284818, + -214.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -412.4052429284818, + -211.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -412.4052429284818, + -208.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -412.4052429284818, + -205.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -412.4052429284818, + -202.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -412.4052429284818, + -199.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -412.4052429284818, + -196.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -412.4052429284818, + -193.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -412.4052429284818, + -190.3218028448768, + -0.9065752528032096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -412.4052429284818, + -190.3218028448768, + -0.9065752528032096 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -412.4052429284818, + -190.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -409.8071667171285, + -188.8218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -407.2090905057752, + -187.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -404.61101429442186, + -185.8218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -402.01293808306855, + -184.3218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -399.41486187171523, + -182.8218028448768, + -0.9065752528032096 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -396.8167856603619, + -181.3218028448768, + -0.9065752528032096 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-35_1843993368/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-35_1843993368/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..159bbc839d30b6369e770a86c0a5b1c898f12118 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-21-35_1843993368/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.9466450751988, + 263.67963562132417, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -583.4466450751988, + 261.08155940997085, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -581.9466450751988, + 258.48348319861753, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -580.4466450751988, + 255.88540698726422, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -578.9466450751988, + 253.2873307759109, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -577.4466450751988, + 250.6892545645576, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -575.9466450751988, + 248.09117835320427, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -574.4466450751988, + 245.49310214185095, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -572.9466450751988, + 242.89502593049764, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -571.4466450751988, + 240.29694971914432, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -569.9466450751988, + 237.698873507791, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -568.4466450751988, + 235.1007972964377, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -566.9466450751988, + 232.50272108508437, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -565.4466450751988, + 229.90464487373106, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -563.9466450751988, + 227.30656866237774, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -562.4466450751988, + 224.70849245102443, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -560.9466450751988, + 222.1104162396711, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -559.4466450751988, + 219.5123400283178, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -557.9466450751988, + 216.91426381696448, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -556.4466450751988, + 214.31618760561116, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -554.9466450751988, + 211.71811139425785, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -553.4466450751988, + 209.12003518290453, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -551.9466450751988, + 206.52195897155121, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -550.4466450751988, + 203.9238827601979, + -2.124869488224031 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -548.9466450751988, + 201.32580654884458, + -2.124869488224031 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-16_1687926652/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-16_1687926652/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99d7a3c5cbb7ff6649dac17e33faf325c82b8bcb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-26-16_1687926652/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.5164993733712, + -26.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.91842316201786, + -24.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 407.32034695066454, + -23.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 404.7222707393112, + -21.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.1241945279579, + -20.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 399.5261183166046, + -18.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 396.9280421052513, + -17.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 394.32996589389796, + -15.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 391.73188968254465, + -14.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 389.13381347119133, + -12.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 386.535737259838, + -11.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 383.9376610484847, + -9.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 381.3395848371314, + -8.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 378.74150862577807, + -6.620795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 376.14343241442475, + -5.120795857926375, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 373.54535620307144, + -3.6207958579263746, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 370.9472799917181, + -2.1207958579263746, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 368.3492037803648, + -0.6207958579263748, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 365.7511275690115, + 0.879204142073625, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 363.15305135765817, + 2.3792041420736245, + -3.9895005211008776 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 363.15305135765817, + 2.3792041420736245, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 361.65305135765817, + 4.9772803534269405, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.15305135765817, + 7.5753565647802565, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 358.65305135765817, + 10.173432776133573, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 357.15305135765817, + 12.77150898748689, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 355.65305135765817, + 15.369585198840205, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 354.15305135765817, + 17.96766141019352, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 352.65305135765817, + 20.565737621546837, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 351.15305135765817, + 23.163813832900153, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 349.65305135765817, + 25.76189004425347, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 348.15305135765817, + 28.359966255606786, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 346.65305135765817, + 30.9580424669601, + -3.9895005211008776 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 345.15305135765817, + 33.55611867831342, + -3.9895005211008776 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-42-14_1275373743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-42-14_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17c8ba9262c3097807fa827153c4baaca5f978aa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-42-14_1275373743/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 133.07790719445035, + 198.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 130.47983098309703, + 197.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 127.88175477174372, + 195.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 125.2836785603904, + 194.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 122.68560234903708, + 192.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 120.08752613768377, + 191.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.48944992633045, + 189.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 114.89137371497714, + 188.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 112.29329750362382, + 186.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 109.6952212922705, + 185.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 107.09714508091719, + 183.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 104.49906886956387, + 182.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 101.90099265821055, + 180.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 99.30291644685724, + 179.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 96.70484023550392, + 177.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 94.1067640241506, + 176.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 91.50868781279729, + 174.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 88.91061160144397, + 173.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 86.31253539009066, + 171.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 83.71445917873734, + 170.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 81.11638296738403, + 168.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 78.51830675603071, + 167.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 75.9202305446774, + 165.60785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 73.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 73.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 70.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 67.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 64.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 61.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 55.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 52.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 49.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 46.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 43.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 40.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 37.32215433332408, + 164.10785575100434, + -3.0236345198242223 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-56_1476153275/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-56_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99506f187c39038453b8ccceac230f629fa5efb2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-44-56_1476153275/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -819.2325847316794, + 94.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.6345085203261, + 93.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -814.0364323089727, + 91.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -811.4383560976194, + 90.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.840279886266, + 88.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.2422036749126, + 87.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -803.6441274635592, + 85.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -801.0460512522059, + 84.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -798.4479750408525, + 82.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -795.8498988294991, + 81.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -793.2518226181458, + 79.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.6537464067924, + 78.38334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.055670195439, + 76.88334950958222, + 1.1404674359450375 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.055670195439, + 76.88334950958222, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -786.555670195439, + 74.2852732982289, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -785.055670195439, + 71.68719708687559, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -783.555670195439, + 69.08912087552227, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -782.055670195439, + 66.49104466416895, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -780.555670195439, + 63.89296845281564, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -779.055670195439, + 61.29489224146232, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -777.555670195439, + 58.696816030109005, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.055670195439, + 56.09873981875569, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -774.555670195439, + 53.50066360740237, + 1.1404674359450375 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -774.555670195439, + 53.50066360740237, + 1.1404674359450375 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -771.9575939840856, + 52.00066360740237, + 1.1404674359450375 + ], + "type": "stop", + "value": 0, + "yaw": -0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-49-31_1597322404/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-49-31_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4a3196d3817e04a7a050370442037045ccc51de --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-49-31_1597322404/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -413.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -410.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -407.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -404.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -401.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -398.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -395.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -392.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -389.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -386.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -383.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -380.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -377.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -377.593907114029, + 760.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -374.99583090267566, + 758.8562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.39775469132235, + 757.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -369.79967847996903, + 755.8562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.2016022686157, + 754.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -364.6035260572624, + 752.8562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -362.0054498459091, + 751.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -359.40737363455577, + 749.8562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -356.80929742320245, + 748.3562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -354.21122121184914, + 746.8562898208987, + -0.8592734467695884 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -351.6131450004958, + 745.3562898208987, + -0.8592734467695884 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-5-3_1315634022/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-5-3_1315634022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec3c8f90f582c1941548498913770b3614342513 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-5-3_1315634022/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.916254518757, + 171.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -641.5143307301103, + 173.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -644.1124069414636, + 174.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.710483152817, + 176.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.3085593641704, + 177.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.9066355755238, + 179.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.5047117868771, + 180.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -657.1027879982305, + 182.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.7008642095839, + 183.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -662.2989404209372, + 185.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.8970166322906, + 186.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -667.495092843644, + 188.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.0931690549974, + 189.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.6912452663507, + 191.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.2893214777041, + 192.72721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.8873976890575, + 194.22721820268487, + 0.13737467833275918 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.8873976890575, + 194.22721820268487, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.3873976890575, + 196.82529441403818, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -680.8873976890575, + 199.4233706253915, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.3873976890575, + 202.02144683674481, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -683.8873976890575, + 204.61952304809813, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.3873976890575, + 207.21759925945145, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -686.8873976890575, + 209.81567547080476, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.3873976890575, + 212.41375168215808, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -689.8873976890575, + 215.0118278935114, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -691.3873976890575, + 217.6099041048647, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.8873976890575, + 220.20798031621803, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.3873976890575, + 222.80605652757134, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.8873976890575, + 225.40413273892466, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -697.3873976890575, + 228.00220895027797, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -698.8873976890575, + 230.6002851616313, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -700.3873976890575, + 233.1983613729846, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -701.8873976890575, + 235.79643758433792, + 0.13737467833275918 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -701.8873976890575, + 235.79643758433792, + 0.13737467833275918 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -704.4854739004109, + 237.29643758433792, + 0.13737467833275918 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-54-0_1359512183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-54-0_1359512183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6357a944a79aa0b08d1bcef9617748e41bf8ce2c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-54-0_1359512183/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 199.85466823808412, + 704.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 199.85466823808412, + 707.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 199.85466823808412, + 710.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 199.85466823808412, + 713.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 199.85466823808412, + 716.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 199.85466823808412, + 719.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 199.85466823808412, + 722.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 199.85466823808412, + 725.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 199.85466823808412, + 728.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 199.85466823808412, + 731.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 199.85466823808412, + 734.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 199.85466823808412, + 737.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 199.85466823808412, + 740.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 199.85466823808412, + 743.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 199.85466823808412, + 746.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 199.85466823808412, + 749.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 199.85466823808412, + 752.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 199.85466823808412, + 755.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 199.85466823808412, + 758.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 199.85466823808412, + 761.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 199.85466823808412, + 764.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 199.85466823808412, + 767.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.85466823808412, + 770.4927568731264, + -4.555299506678334 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 199.85466823808412, + 773.4927568731264, + -4.555299506678334 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-7-27_1653377373/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-7-27_1653377373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87bdc36acf9d15a5f568a0ec2a43009f48b8e2d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-7-27_1653377373/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -849.5408615377581, + 363.76775509779986, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -851.0408615377581, + 366.3658313091532, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -852.5408615377581, + 368.9639075205065, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -854.0408615377581, + 371.5619837318598, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -855.5408615377581, + 374.1600599432131, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.0408615377581, + 376.75813615456644, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -858.5408615377581, + 379.35621236591976, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -860.0408615377581, + 381.9542885772731, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -861.5408615377581, + 384.5523647886264, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -863.0408615377581, + 387.1504409999797, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -864.5408615377581, + 389.748517211333, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -866.0408615377581, + 392.34659342268634, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -867.5408615377581, + 394.94466963403966, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -869.0408615377581, + 397.542745845393, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -870.5408615377581, + 400.1408220567463, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -872.0408615377581, + 402.7388982680996, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -873.5408615377581, + 405.3369744794529, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -875.0408615377581, + 407.93505069080624, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -876.5408615377581, + 410.53312690215955, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -878.0408615377581, + 413.13120311351287, + -0.5417611782752321 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -878.0408615377581, + 413.13120311351287, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -880.6389377491114, + 414.63120311351287, + -0.5417611782752321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -883.2370139604648, + 416.13120311351287, + -0.5417611782752321 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-9-48_1129566413/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-9-48_1129566413/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36ccda921ff1fb7bdfb9d65683a8162fd2b02c53 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_22-9-48_1129566413/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 49.43506577217826, + -81.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 49.43506577217826, + -78.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.43506577217826, + -75.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 49.43506577217826, + -72.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 49.43506577217826, + -69.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 49.43506577217826, + -66.54885611741825, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 49.43506577217826, + -63.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 49.43506577217826, + -60.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 49.43506577217826, + -57.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 49.43506577217826, + -54.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 49.43506577217826, + -51.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 49.43506577217826, + -48.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 49.43506577217826, + -45.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 49.43506577217826, + -42.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 49.43506577217826, + -39.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 49.43506577217826, + -36.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 49.43506577217826, + -33.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 49.43506577217826, + -30.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 49.43506577217826, + -27.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 49.43506577217826, + -24.548856117418254, + 1.9843244784714456 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 49.43506577217826, + -24.548856117418254, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 50.93506577217826, + -21.950779906064938, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 52.43506577217826, + -19.35270369471162, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 53.93506577217826, + -16.754627483358306, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 55.43506577217826, + -14.15655127200499, + 1.9843244784714456 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.93506577217826, + -11.558475060651674, + 1.9843244784714456 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-0-32_654887343/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-0-32_654887343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..68f6191073e1976647744a149e3b9702c712f59b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-0-32_654887343/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.6536664223353, + 32.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -612.2517426336885, + 31.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -614.8498188450419, + 29.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -617.4478950563953, + 28.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -620.0459712677487, + 26.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -622.644047479102, + 25.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -625.2421236904554, + 23.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -627.8401999018088, + 22.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -630.4382761131621, + 20.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -633.0363523245155, + 19.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -635.6344285358689, + 17.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -638.2325047472223, + 16.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -640.8305809585756, + 14.63048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -643.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -643.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -661.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -664.428657169929, + 13.13048438510549, + 2.955276423923503 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-12-59_1472713773/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-12-59_1472713773/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4287dfa436a75aea85e50c5e7613e9ca10cadcc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-12-59_1472713773/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 491.9692249115551, + 517.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 489.3711487002018, + 519.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 486.77307248884847, + 520.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 484.17499627749515, + 522.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 481.57692006614184, + 523.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 478.9788438547885, + 525.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 476.3807676434352, + 526.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 473.7826914320819, + 528.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.1846152207286, + 529.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 468.58653900937526, + 531.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 465.98846279802194, + 532.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 463.3903865866686, + 534.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 460.7923103753153, + 535.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 458.194234163962, + 537.4963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 455.5961579526087, + 538.9963717658721, + -3.389358645455283 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 455.5961579526087, + 538.9963717658721, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 454.0961579526087, + 541.5944479772254, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 452.5961579526087, + 544.1925241885788, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 451.0961579526087, + 546.7906003999321, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 449.5961579526087, + 549.3886766112855, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 448.0961579526087, + 551.9867528226389, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 446.5961579526087, + 554.5848290339923, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 445.0961579526087, + 557.1829052453456, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 443.5961579526087, + 559.780981456699, + -3.389358645455283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 442.0961579526087, + 562.3790576680524, + -3.389358645455283 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-18-37_1065103348/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-18-37_1065103348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..efc0a9cf930c82d8971c23531407caea87f88f5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-18-37_1065103348/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -685.3965091651895, + -219.57836496636133, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -683.8965091651895, + -216.98028875500802, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.3965091651895, + -214.3822125436547, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -680.8965091651895, + -211.7841363323014, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.3965091651895, + -209.18606012094807, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.8965091651895, + -206.58798390959475, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -676.3965091651895, + -203.98990769824144, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -674.8965091651895, + -201.39183148688812, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -673.3965091651895, + -198.7937552755348, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -671.8965091651895, + -196.1956790641815, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.3965091651895, + -193.59760285282817, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.8965091651895, + -190.99952664147486, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.3965091651895, + -188.40145043012154, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.8965091651895, + -185.80337421876823, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -664.3965091651895, + -183.2052980074149, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -662.8965091651895, + -180.6072217960616, + 4.806727633459397 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.8965091651895, + -180.6072217960616, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -662.8965091651895, + -177.6072217960616, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -662.8965091651895, + -174.6072217960616, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -662.8965091651895, + -171.6072217960616, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -662.8965091651895, + -168.6072217960616, + 4.806727633459397 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -662.8965091651895, + -165.6072217960616, + 4.806727633459397 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-20-42_1799878206/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-20-42_1799878206/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9166121426195b2d9c1c611e2290b27af234d8d3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-20-42_1799878206/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -571.3853039716521, + 218.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -573.9833801830055, + 219.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -576.5814563943588, + 221.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -579.1795326057122, + 222.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -581.7776088170656, + 224.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -584.375685028419, + 225.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -586.9737612397723, + 227.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -589.5718374511257, + 228.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -592.1699136624791, + 230.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -594.7679898738324, + 231.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -597.3660660851858, + 233.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -599.9641422965392, + 234.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.5622185078926, + 236.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -605.1602947192459, + 237.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -607.7583709305993, + 239.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -610.3564471419527, + 240.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -612.9545233533061, + 242.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -615.5525995646594, + 243.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -618.1506757760128, + 245.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -620.7487519873662, + 246.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.3468281987195, + 248.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -625.9449044100729, + 249.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -628.5429806214263, + 251.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -631.1410568327797, + 252.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -633.739133044133, + 254.18291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -636.3372092554864, + 255.68291869791722, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -638.9352854668398, + 257.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -641.5333616781932, + 258.6829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -644.1314378895465, + 260.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -646.7295141008999, + 261.6829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -649.3275903122533, + 263.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -651.9256665236067, + 264.6829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -654.52374273496, + 266.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -657.1218189463134, + 267.6829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -659.7198951576668, + 269.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -662.3179713690201, + 270.6829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -664.9160475803735, + 272.1829186979172, + -2.110233859311901 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -667.5141237917269, + 273.6829186979172, + -2.110233859311901 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-22-28_296864819/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-22-28_296864819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9dc5154db4d7f104aadb9ffaaa842d17a953a2f8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-22-28_296864819/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 198.1653475028471, + -251.04161537005328, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 196.6653475028471, + -253.6396915814066, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 195.1653475028471, + -256.2377677927599, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023932 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 193.6653475028471, + -258.8358440041132, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 192.1653475028471, + -261.4339202154665, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 190.6653475028471, + -264.03199642681983, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 189.1653475028471, + -266.63007263817315, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 187.6653475028471, + -269.22814884952646, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 186.1653475028471, + -271.8262250608798, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 184.6653475028471, + -274.4243012722331, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 183.1653475028471, + -277.0223774835864, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 181.6653475028471, + -279.6204536949397, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 180.1653475028471, + -282.21852990629304, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 178.6653475028471, + -284.81660611764636, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 177.1653475028471, + -287.4146823289997, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 175.6653475028471, + -290.012758540353, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 174.1653475028471, + -292.6108347517063, + -4.791291946328323 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 174.1653475028471, + -292.6108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 171.5672712914938, + -294.1108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 168.96919508014048, + -295.6108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 166.37111886878716, + -297.1108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 163.77304265743385, + -298.6108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 161.17496644608053, + -300.1108347517063, + -4.791291946328323 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 158.57689023472722, + -301.6108347517063, + -4.791291946328323 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-25-28_1414829150/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-25-28_1414829150/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de0834ebc8a9d225b8c298bf3d2ccaef764cfb18 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-25-28_1414829150/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 479.33953453110365, + 649.8545251833989, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 477.83953453110365, + 647.2564489720455, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.33953453110365, + 644.6583727606921, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 474.83953453110365, + 642.0602965493388, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 473.33953453110365, + 639.4622203379854, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 471.83953453110365, + 636.864144126632, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 470.33953453110365, + 634.2660679152787, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 468.83953453110365, + 631.6679917039253, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 467.33953453110365, + 629.0699154925719, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 465.83953453110365, + 626.4718392812185, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 464.33953453110365, + 623.8737630698652, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 462.83953453110365, + 621.2756868585118, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 461.33953453110365, + 618.6776106471584, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 459.83953453110365, + 616.079534435805, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.33953453110365, + 613.4814582244517, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 456.83953453110365, + 610.8833820130983, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 455.33953453110365, + 608.2853058017449, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 453.83953453110365, + 605.6872295903916, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 452.33953453110365, + 603.0891533790382, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 450.83953453110365, + 600.4910771676848, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.33953453110365, + 597.8930009563314, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 447.83953453110365, + 595.2949247449781, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 446.33953453110365, + 592.6968485336247, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 444.83953453110365, + 590.0987723222713, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 443.33953453110365, + 587.5006961109179, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.83953453110365, + 584.9026198995646, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 440.33953453110365, + 582.3045436882112, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 438.83953453110365, + 579.7064674768578, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 437.33953453110365, + 577.1083912655045, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 435.83953453110365, + 574.5103150541511, + -4.61798621292602 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 435.83953453110365, + 574.5103150541511, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 435.83953453110365, + 571.5103150541511, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 435.83953453110365, + 568.5103150541511, + -4.61798621292602 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 435.83953453110365, + 565.5103150541511, + -4.61798621292602 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-27-30_780821396/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-27-30_780821396/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..698eaddfeb5fc42773ba6c4ebcb6f2870ee8bfc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-27-30_780821396/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -832.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -829.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -826.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -820.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -817.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -814.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -811.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -808.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -805.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -799.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -796.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -793.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -790.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -787.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -787.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.0505352509539, + 60.928657841829356, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -785.5505352509539, + 58.33058163047604, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.0505352509539, + 55.732505419122724, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -782.5505352509539, + 53.13442920776941, + -4.833698930481085 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -782.5505352509539, + 53.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -779.9524590396006, + 51.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -777.3543828282473, + 50.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -774.7563066168939, + 48.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -772.1582304055405, + 47.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -769.5601541941871, + 45.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -766.9620779828338, + 44.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -764.3640017714804, + 42.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -761.765925560127, + 41.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -759.1678493487736, + 39.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -756.5697731374203, + 38.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -753.9716969260669, + 36.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -751.3736207147135, + 35.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -748.7755445033602, + 33.63442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -746.1774682920068, + 32.13442920776941, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -743.5793920806534, + 30.634429207769408, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -740.9813158693, + 29.134429207769408, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -738.3832396579467, + 27.634429207769408, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -735.7851634465933, + 26.134429207769408, + -4.833698930481085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -733.1870872352399, + 24.634429207769408, + -4.833698930481085 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-3-13_396473730/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-3-13_396473730/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5c961521a0d55a4f31381a6ad16f9e32cff6ffd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-3-13_396473730/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -223.86057481772076, + -331.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.86057481772076, + -334.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -223.86057481772076, + -337.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.86057481772076, + -340.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -223.86057481772076, + -343.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -223.86057481772076, + -346.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -223.86057481772076, + -349.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.86057481772076, + -352.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -223.86057481772076, + -355.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -223.86057481772076, + -358.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.86057481772076, + -361.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -223.86057481772076, + -364.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -223.86057481772076, + -367.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.86057481772076, + -370.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -223.86057481772076, + -373.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -223.86057481772076, + -376.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -223.86057481772076, + -379.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -223.86057481772076, + -382.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.86057481772076, + -385.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -223.86057481772076, + -388.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -223.86057481772076, + -391.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -223.86057481772076, + -394.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -223.86057481772076, + -397.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -223.86057481772076, + -400.15640538412595, + -1.6710824218748872 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -223.86057481772076, + -400.15640538412595, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -222.36057481772076, + -402.75448159547926, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -220.86057481772076, + -405.3525578068326, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -219.36057481772076, + -407.9506340181859, + -1.6710824218748872 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -217.86057481772076, + -410.5487102295392, + -1.6710824218748872 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-40_446340713/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-40_446340713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e561f28982481f928fe21d6adc5b172d40406314 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-40_446340713/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -853.7613047657428, + 11.60978848230151, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -852.2613047657428, + 14.207864693654827, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -850.7613047657428, + 16.805940905008143, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -849.2613047657428, + 19.40401711636146, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -847.7613047657428, + 22.002093327714775, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -846.2613047657428, + 24.60016953906809, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -844.7613047657428, + 27.198245750421407, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -843.2613047657428, + 29.796321961774723, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -841.7613047657428, + 32.39439817312804, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -840.2613047657428, + 34.992474384481355, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -838.7613047657428, + 37.59055059583467, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -837.2613047657428, + 40.18862680718799, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -835.7613047657428, + 42.7867030185413, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -834.2613047657428, + 45.38477922989462, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -832.7613047657428, + 47.982855441247935, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -831.2613047657428, + 50.58093165260125, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -829.7613047657428, + 53.17900786395457, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -828.2613047657428, + 55.77708407530788, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -826.7613047657428, + 58.3751602866612, + -4.7315264033374955 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -826.7613047657428, + 58.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -824.1632285543894, + 59.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -821.5651523430361, + 61.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -818.9670761316827, + 62.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -816.3689999203293, + 64.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -813.7709237089759, + 65.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -811.1728474976226, + 67.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -808.5747712862692, + 68.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -805.9766950749158, + 70.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -803.3786188635625, + 71.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -800.7805426522091, + 73.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -798.1824664408557, + 74.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -795.5843902295023, + 76.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -792.986314018149, + 77.8751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -790.3882378067956, + 79.3751602866612, + -4.7315264033374955 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -787.7901615954422, + 80.8751602866612, + -4.7315264033374955 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-7_1343606042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-7_1343606042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02ca4ddbd63ef9836b049d20894706b77da8eef2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-31-7_1343606042/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.123142117552874, + -171.80904927301782, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -56.623142117552874, + -174.40712548437114, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -55.123142117552874, + -177.00520169572445, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -53.623142117552874, + -179.60327790707777, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -52.123142117552874, + -182.20135411843108, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -50.623142117552874, + -184.7994303297844, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -49.123142117552874, + -187.39750654113772, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -47.623142117552874, + -189.99558275249103, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -46.123142117552874, + -192.59365896384435, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -44.623142117552874, + -195.19173517519766, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -43.123142117552874, + -197.78981138655098, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -41.623142117552874, + -200.3878875979043, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -40.123142117552874, + -202.9859638092576, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -38.623142117552874, + -205.58404002061093, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -37.123142117552874, + -208.18211623196424, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -35.623142117552874, + -210.78019244331756, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -34.123142117552874, + -213.37826865467088, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -32.623142117552874, + -215.9763448660242, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -31.123142117552874, + -218.5744210773775, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -29.623142117552874, + -221.17249728873082, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -28.123142117552874, + -223.77057350008414, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -26.623142117552874, + -226.36864971143746, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -25.123142117552874, + -228.96672592279077, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -23.623142117552874, + -231.5648021341441, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -22.123142117552874, + -234.1628783454974, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -20.623142117552874, + -236.76095455685072, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -19.123142117552874, + -239.35903076820404, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -17.623142117552874, + -241.95710697955735, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -16.123142117552874, + -244.55518319091067, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -14.623142117552874, + -247.15325940226398, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -13.123142117552874, + -249.7513356136173, + -4.323366016844383 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -11.623142117552874, + -252.34941182497062, + -4.323366016844383 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-33-4_524688209/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-33-4_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d32172b6d2b726c6a8d4f52beae10f948bdb12b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-33-4_524688209/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -818.1496874990105, + 194.84798410352983, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.6496874990105, + 192.2499078921765, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -815.1496874990105, + 189.6518316808232, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -813.6496874990105, + 187.05375546946988, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -812.1496874990105, + 184.45567925811656, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -810.6496874990105, + 181.85760304676324, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -809.1496874990105, + 179.25952683540993, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.6496874990105, + 176.6614506240566, + 4.3567556063426025 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -807.6496874990105, + 176.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -805.0516112876571, + 175.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.4535350763038, + 173.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -799.8554588649504, + 172.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -797.257382653597, + 170.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -794.6593064422436, + 169.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -792.0612302308903, + 167.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -789.4631540195369, + 166.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -786.8650778081835, + 164.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -784.2670015968301, + 163.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -781.6689253854768, + 161.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -779.0708491741234, + 160.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -776.47277296277, + 158.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -773.8746967514166, + 157.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -771.2766205400633, + 155.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -768.6785443287099, + 154.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -766.0804681173565, + 152.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -763.4823919060032, + 151.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -760.8843156946498, + 149.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -758.2862394832964, + 148.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -755.688163271943, + 146.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -753.0900870605897, + 145.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -750.4920108492363, + 143.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -747.8939346378829, + 142.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -745.2958584265295, + 140.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -742.6977822151762, + 139.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -740.0997060038228, + 137.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -737.5016297924694, + 136.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -734.9035535811161, + 134.6614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -732.3054773697627, + 133.1614506240566, + 4.3567556063426025 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -729.7074011584093, + 131.6614506240566, + 4.3567556063426025 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-39-23_201690613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-39-23_201690613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ccc34873a3600836f251119b5f2d14bbf24309e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-39-23_201690613/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -702.3020370516255, + 87.71106828470008, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -703.8020370516255, + 85.11299207334676, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -705.3020370516255, + 82.51491586199344, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -706.8020370516255, + 79.91683965064013, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -708.3020370516255, + 77.31876343928681, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -709.8020370516255, + 74.7206872279335, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -711.3020370516255, + 72.12261101658018, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.8020370516255, + 69.52453480522686, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.3020370516255, + 66.92645859387355, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -715.8020370516255, + 64.32838238252023, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -717.3020370516255, + 61.730306171166916, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -718.8020370516255, + 59.1322299598136, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -720.3020370516255, + 56.534153748460284, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -721.8020370516255, + 53.93607753710697, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -723.3020370516255, + 51.33800132575365, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -724.8020370516255, + 48.739925114400336, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -726.3020370516255, + 46.14184890304702, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -727.8020370516255, + 43.543772691693704, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -729.3020370516255, + 40.94569648034039, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -730.8020370516255, + 38.34762026898707, + -2.7910925972935723 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -730.8020370516255, + 38.34762026898707, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -730.8020370516255, + 35.34762026898707, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -730.8020370516255, + 32.34762026898707, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.8020370516255, + 29.34762026898707, + -2.7910925972935723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.8020370516255, + 26.34762026898707, + -2.7910925972935723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-47-54_364319529/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-47-54_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fc708335847733f99bc1932c4ccb49226c356c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-47-54_364319529/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -979.7294173462435, + 339.91946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -982.3274935575969, + 338.41946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -984.9255697689503, + 336.91946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -987.5236459803036, + 335.41946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -990.121722191657, + 333.91946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -992.7197984030104, + 332.41946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -995.3178746143637, + 330.91946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -997.9159508257171, + 329.41946064061875, + -4.8148824253219615 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.5140270370705, + 327.91946064061875, + -4.8148824253219615 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-7-57_1238433452/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-7-57_1238433452/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ac3c835e2f80449ecedc6dc93235c01f6e1b593 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2024-12-31_23-7-57_1238433452/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 365.7615720122019, + -163.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 365.7615720122019, + -160.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 365.7615720122019, + -157.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 365.7615720122019, + -154.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 365.7615720122019, + -151.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 365.7615720122019, + -148.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 365.7615720122019, + -145.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 365.7615720122019, + -142.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 365.7615720122019, + -139.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 365.7615720122019, + -136.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 365.7615720122019, + -133.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 365.7615720122019, + -130.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 365.7615720122019, + -127.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 365.7615720122019, + -124.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 365.7615720122019, + -121.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 365.7615720122019, + -118.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 365.7615720122019, + -115.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 365.7615720122019, + -112.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 365.7615720122019, + -109.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 365.7615720122019, + -106.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 365.7615720122019, + -103.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 365.7615720122019, + -100.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 365.7615720122019, + -97.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 365.7615720122019, + -94.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 365.7615720122019, + -91.72609091069165, + 3.6747342934228477 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 365.7615720122019, + -91.72609091069165, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 364.2615720122019, + -89.12801469933834, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 362.7615720122019, + -86.52993848798502, + 3.6747342934228477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 361.2615720122019, + -83.9318622766317, + 3.6747342934228477 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-37-34_1046741222/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-37-34_1046741222/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63d46e4ef3cc30581e9437aef02b8b853804cfea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-37-34_1046741222/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -278.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -275.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -272.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -269.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -266.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -263.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -260.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -257.7177412588753, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -254.71774125887532, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -251.71774125887532, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -248.71774125887532, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -248.71774125887532, + -392.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -246.119665047522, + -394.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -243.5215888361687, + -395.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -240.92351262481537, + -397.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -238.32543641346206, + -398.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -235.72736020210874, + -400.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -233.12928399075543, + -401.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -230.5312077794021, + -403.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -227.9331315680488, + -404.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -225.33505535669548, + -406.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -222.73697914534216, + -407.7822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -220.13890293398885, + -409.2822021733061, + 1.9471005118483262 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -217.54082672263553, + -410.7822021733061, + 1.9471005118483262 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-45-57_1017679567/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-45-57_1017679567/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2a775e9fb69ef0e49296a38d3aecbf8ca64369f8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-45-57_1017679567/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -646.6227562186682, + 151.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.6227562186682, + 148.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -646.6227562186682, + 145.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.6227562186682, + 142.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -646.6227562186682, + 139.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -646.6227562186682, + 136.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -646.6227562186682, + 133.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -646.6227562186682, + 130.6727676275657, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -646.6227562186682, + 127.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -646.6227562186682, + 124.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -646.6227562186682, + 121.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -646.6227562186682, + 118.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -646.6227562186682, + 115.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -646.6227562186682, + 112.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -646.6227562186682, + 109.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.6227562186682, + 106.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -646.6227562186682, + 103.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -646.6227562186682, + 100.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -646.6227562186682, + 97.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -646.6227562186682, + 94.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -646.6227562186682, + 91.67276762756569, + -3.1858379441392737 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -646.6227562186682, + 91.67276762756569, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -648.1227562186682, + 89.07469141621237, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -649.6227562186682, + 86.47661520485906, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.1227562186682, + 83.87853899350574, + -3.1858379441392737 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -652.6227562186682, + 81.28046278215243, + -3.1858379441392737 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-50-13_1266235189/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-50-13_1266235189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53846bc0824dfeb4b3558904291fc8fc7b9d7c25 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-50-13_1266235189/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -615.1053879549049, + 150.97220370847637, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -613.6053879549049, + 153.5702799198297, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.1053879549049, + 156.168356131183, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -610.6053879549049, + 158.76643234253632, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.1053879549049, + 161.36450855388964, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -607.6053879549049, + 163.96258476524295, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -606.1053879549049, + 166.56066097659627, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -604.6053879549049, + 169.15873718794958, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -603.1053879549049, + 171.7568133993029, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.6053879549049, + 174.35488961065622, + 1.467293201555493 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -601.6053879549049, + 174.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -599.0073117435516, + 175.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -596.4092355321982, + 177.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -593.8111593208448, + 178.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -591.2130831094914, + 180.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -588.6150068981381, + 181.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -586.0169306867847, + 183.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -583.4188544754313, + 184.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -580.820778264078, + 186.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -578.2227020527246, + 187.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -575.6246258413712, + 189.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -573.0265496300178, + 190.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -570.4284734186645, + 192.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -567.8303972073111, + 193.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -565.2323209959577, + 195.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -562.6342447846043, + 196.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -560.036168573251, + 198.35488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -557.4380923618976, + 199.85488961065622, + 1.467293201555493 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -557.4380923618976, + 199.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -554.4380923618976, + 199.85488961065622, + 1.467293201555493 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -551.4380923618976, + 199.85488961065622, + 1.467293201555493 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-51-33_653448036/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-51-33_653448036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4c1546174fc39a4d35dee0f5d46108014de7e95f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_17-51-33_653448036/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -261.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -264.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -267.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -270.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -273.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -276.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -279.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -282.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -285.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -288.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -291.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -294.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -297.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -297.12898966739164, + -120.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -299.72706587874495, + -121.77585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -302.32514209009827, + -123.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.9232183014516, + -124.77585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -307.5212945128049, + -126.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -310.1193707241582, + -127.77585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -312.71744693551153, + -129.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -315.31552314686485, + -130.77585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -317.91359935821816, + -132.27585348019375, + 1.6901439336810062 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -320.5116755695715, + -133.77585348019375, + 1.6901439336810062 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-22_1455590964/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-22_1455590964/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b99e4a12aa6d727207c37f8e806f5f5b5152f84 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-22_1455590964/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -368.31616918097814, + 114.7075201017685, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -369.81616918097814, + 112.10944389041518, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -371.31616918097814, + 109.51136767906186, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -372.81616918097814, + 106.91329146770855, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -374.31616918097814, + 104.31521525635523, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -375.81616918097814, + 101.71713904500191, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -377.31616918097814, + 99.1190628336486, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -378.81616918097814, + 96.52098662229528, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -380.31616918097814, + 93.92291041094197, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -381.81616918097814, + 91.32483419958865, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -383.31616918097814, + 88.72675798823533, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -384.81616918097814, + 86.12868177688202, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -386.31616918097814, + 83.5306055655287, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -387.81616918097814, + 80.93252935417539, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -389.31616918097814, + 78.33445314282207, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -390.81616918097814, + 75.73637693146875, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -392.31616918097814, + 73.13830072011544, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -393.81616918097814, + 70.54022450876212, + -1.5913356695930307 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -393.81616918097814, + 70.54022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.41424539233145, + 69.04022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -399.01232160368477, + 67.54022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -401.6103978150381, + 66.04022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -404.2084740263914, + 64.54022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -406.8065502377447, + 63.04022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -409.40462644909803, + 61.54022450876212, + -1.5913356695930307 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -412.00270266045135, + 60.04022450876212, + -1.5913356695930307 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-36_328298285/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-36_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca4849d521bbe8887895671aafd40a3aa1c00fe6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-10-36_328298285/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -774.0616332111276, + 71.14243775588855, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -772.5616332111276, + 68.54436154453523, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -771.0616332111276, + 65.94628533318192, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -769.5616332111276, + 63.3482091218286, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -768.0616332111276, + 60.75013291047529, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -766.5616332111276, + 58.15205669912197, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.0616332111276, + 55.553980487768655, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -763.5616332111276, + 52.95590427641534, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -762.0616332111276, + 50.35782806506202, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.5616332111276, + 47.75975185370871, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -759.0616332111276, + 45.16167564235539, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -757.5616332111276, + 42.563599431002075, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.0616332111276, + 39.96552321964876, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.5616332111276, + 37.36744700829544, + 0.15551029109355952 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.5616332111276, + 37.36744700829544, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -751.9635569997743, + 35.86744700829544, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.3654807884209, + 34.36744700829544, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.7674045770675, + 32.86744700829544, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.1693283657141, + 31.367447008295443, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.5712521543608, + 29.867447008295443, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.9731759430074, + 28.367447008295443, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.375099731654, + 26.867447008295443, + 0.15551029109355952 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.7770235203006, + 25.367447008295443, + 0.15551029109355952 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-17-23_1941690360/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-17-23_1941690360/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..13ded3ca66125c0869b3936982168a0a3299eca6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-17-23_1941690360/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -765.8792749790895, + 89.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -765.8792749790895, + 92.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.8792749790895, + 95.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -765.8792749790895, + 98.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -765.8792749790895, + 101.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -765.8792749790895, + 104.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.8792749790895, + 107.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.8792749790895, + 110.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -765.8792749790895, + 113.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -765.8792749790895, + 116.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.8792749790895, + 119.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.8792749790895, + 122.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.8792749790895, + 125.62954054574071, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.8792749790895, + 128.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -765.8792749790895, + 131.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.8792749790895, + 134.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.8792749790895, + 137.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.8792749790895, + 140.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.8792749790895, + 143.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -765.8792749790895, + 146.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.8792749790895, + 149.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.8792749790895, + 152.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.8792749790895, + 155.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -765.8792749790895, + 158.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.8792749790895, + 161.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -765.8792749790895, + 164.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -765.8792749790895, + 167.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.8792749790895, + 170.62954054574072, + -1.46751598477086 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -765.8792749790895, + 170.62954054574072, + -1.46751598477086 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.8792749790895, + 170.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -768.4773511904427, + 172.12954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -771.0754274017961, + 173.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -773.6735036131495, + 175.12954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -776.2715798245029, + 176.62954054574072, + -1.46751598477086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -778.8696560358562, + 178.12954054574072, + -1.46751598477086 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-18-31_1866000081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-18-31_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..676ae9b99b3605bf0551f7f02d4c2f2dcd5c5204 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-18-31_1866000081/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -163.74795305488882, + 417.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -161.1498768435355, + 415.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -158.5518006321822, + 414.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -155.95372442082888, + 412.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -153.35564820947556, + 411.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -150.75757199812224, + 409.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -148.15949578676893, + 408.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.5614195754156, + 406.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -142.9633433640623, + 405.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.36526715270898, + 403.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -137.76719094135566, + 402.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -135.16911473000235, + 400.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -132.57103851864903, + 399.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -129.97296230729572, + 397.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -127.3748860959424, + 396.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.77680988458908, + 394.52632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.17873367323577, + 393.02632886415796, + 4.944857842434759 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -122.17873367323577, + 393.02632886415796, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -120.67873367323577, + 390.42825265280464, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -119.17873367323577, + 387.83017644145133, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -117.67873367323577, + 385.232100230098, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -116.17873367323577, + 382.6340240187447, + 4.944857842434759 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -114.67873367323577, + 380.0359478073914, + 4.944857842434759 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-36-10_1376035217/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-36-10_1376035217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a103cbaa6842f79e776e5a5d918ad3c40c4602f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-36-10_1376035217/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -538.8101628675604, + -160.12782213749736, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -537.3101628675604, + -162.72589834885068, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -535.8101628675604, + -165.323974560204, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -534.3101628675604, + -167.9220507715573, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -532.8101628675604, + -170.52012698291063, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -531.3101628675604, + -173.11820319426394, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -529.8101628675604, + -175.71627940561726, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -528.3101628675604, + -178.31435561697057, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -526.8101628675604, + -180.9124318283239, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -525.3101628675604, + -183.5105080396772, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -523.8101628675604, + -186.10858425103052, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -522.3101628675604, + -188.70666046238384, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -520.8101628675604, + -191.30473667373715, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -519.3101628675604, + -193.90281288509047, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -517.8101628675604, + -196.50088909644379, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -516.3101628675604, + -199.0989653077971, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -514.8101628675604, + -201.69704151915042, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -513.3101628675604, + -204.29511773050373, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -511.8101628675604, + -206.89319394185705, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -510.3101628675604, + -209.49127015321037, + 2.469785840860159 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -510.3101628675604, + -209.49127015321037, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -510.3101628675604, + -212.49127015321037, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -510.3101628675604, + -215.49127015321037, + 2.469785840860159 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -510.3101628675604, + -218.49127015321037, + 2.469785840860159 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-38-20_1714636915/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-38-20_1714636915/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1693fd3ba337c135ebfd025abf6f3484cbd8b395 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-38-20_1714636915/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -765.9414116609897, + -51.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -765.9414116609897, + -48.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.9414116609897, + -45.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -765.9414116609897, + -42.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -765.9414116609897, + -39.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -765.9414116609897, + -36.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.9414116609897, + -33.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.9414116609897, + -30.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -765.9414116609897, + -27.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -765.9414116609897, + -24.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.9414116609897, + -21.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.9414116609897, + -18.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.9414116609897, + -15.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.9414116609897, + -12.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -765.9414116609897, + -9.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.9414116609897, + -6.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -765.9414116609897, + -3.002006284121265, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.9414116609897, + -0.002006284121264912, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -765.9414116609897, + 2.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -765.9414116609897, + 5.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.9414116609897, + 8.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.9414116609897, + 11.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.9414116609897, + 14.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -765.9414116609897, + 17.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -765.9414116609897, + 20.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -765.9414116609897, + 23.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -765.9414116609897, + 26.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.9414116609897, + 29.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -765.9414116609897, + 32.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -765.9414116609897, + 35.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -765.9414116609897, + 38.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -765.9414116609897, + 41.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -765.9414116609897, + 44.997993715878735, + -2.662058182887759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -765.9414116609897, + 47.997993715878735, + -2.662058182887759 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-39-30_1649760492/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-39-30_1649760492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a27bc1cd3b622d391ae5f2352be064dba4d92ca1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-39-30_1649760492/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -829.2949129924507, + 125.30632784828288, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -827.7949129924507, + 127.90440405963619, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -826.2949129924507, + 130.5024802709895, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -824.7949129924507, + 133.10055648234282, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -823.2949129924507, + 135.69863269369614, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -821.7949129924507, + 138.29670890504946, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -820.2949129924507, + 140.89478511640277, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -818.7949129924507, + 143.4928613277561, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -817.2949129924507, + 146.0909375391094, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -815.7949129924507, + 148.68901375046272, + 3.9719830007871053 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -815.7949129924507, + 148.68901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -813.1968367810973, + 150.18901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -810.598760569744, + 151.68901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -808.0006843583906, + 153.18901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -805.4026081470372, + 154.68901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.8045319356838, + 156.18901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -800.2064557243305, + 157.68901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -797.6083795129771, + 159.18901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -795.0103033016237, + 160.68901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -792.4122270902703, + 162.18901375046272, + 3.9719830007871053 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -792.4122270902703, + 162.18901375046272, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -790.9122270902703, + 164.78708996181604, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -789.4122270902703, + 167.38516617316935, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.9122270902703, + 169.98324238452267, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -786.4122270902703, + 172.58131859587598, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -784.9122270902703, + 175.1793948072293, + 3.9719830007871053 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -783.4122270902703, + 177.77747101858262, + 3.9719830007871053 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-42-30_1303455736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-42-30_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..564e76a4ee978e40e52274691606b11dc60c255f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-42-30_1303455736/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -596.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -593.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -590.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -587.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -584.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -581.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -578.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -575.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -572.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -569.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -566.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -563.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -560.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -557.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -554.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -551.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -548.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -545.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -542.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -542.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -542.1628818440199, + -196.82664475344447, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -540.6628818440199, + -199.42472096479779, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -539.1628818440199, + -202.0227971761511, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -537.6628818440199, + -204.62087338750442, + -2.062184841803142 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -537.6628818440199, + -204.62087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -535.0648056326665, + -206.12087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -532.4667294213132, + -207.62087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -529.8686532099598, + -209.12087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -527.2705769986064, + -210.62087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -524.6725007872531, + -212.12087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -522.0744245758997, + -213.62087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -519.4763483645463, + -215.12087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -516.8782721531929, + -216.62087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -514.2801959418396, + -218.12087338750442, + -2.062184841803142 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -511.68211973048625, + -219.62087338750442, + -2.062184841803142 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-12_468703135/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-12_468703135/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec28dffb1695e8b76cba945b7c0459c8b58f186c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-12_468703135/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -717.4119463844156, + -200.49800816667516, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.8138701730622, + -198.99800816667516, + 4.255144372616343 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -714.8138701730622, + -198.99800816667516, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -713.3138701730622, + -196.39993195532185, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -711.8138701730622, + -193.80185574396853, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -710.3138701730622, + -191.20377953261521, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.8138701730622, + -188.6057033212619, + 4.255144372616343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.8138701730622, + -188.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -706.2157939617089, + -187.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -703.6177177503555, + -185.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -701.0196415390021, + -184.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -698.4215653276488, + -182.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -695.8234891162954, + -181.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -693.225412904942, + -179.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -690.6273366935886, + -178.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -688.0292604822353, + -176.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -685.4311842708819, + -175.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.8331080595285, + -173.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -680.2350318481751, + -172.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.6369556368218, + -170.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.0388794254684, + -169.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.440803214115, + -167.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -669.8427270027616, + -166.1057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.2446507914083, + -164.6057033212619, + 4.255144372616343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -664.6465745800549, + -163.1057033212619, + 4.255144372616343 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-41_1801979802/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-41_1801979802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b99279bd2750305dd570eae256fca26039b919a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-45-41_1801979802/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.03858839253485, + 76.25111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 395.63666460388816, + 74.75111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 398.2347408152415, + 73.25111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.8328170265948, + 71.75111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 403.4308932379481, + 70.25111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 406.0289694493014, + 68.75111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.62704566065474, + 67.25111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.22512187200806, + 65.75111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.8231980833614, + 64.25111621012734, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 416.4212742947147, + 62.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 419.019350506068, + 61.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 421.6174267174213, + 59.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 424.21550292877464, + 58.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 426.81357914012796, + 56.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 429.4116553514813, + 55.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 432.0097315628346, + 53.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 434.6078077741879, + 52.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 437.2058839855412, + 50.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 439.80396019689454, + 49.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 442.40203640824785, + 47.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 445.00011261960117, + 46.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 447.5981888309545, + 44.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 450.1962650423078, + 43.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 452.7943412536611, + 41.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 455.39241746501443, + 40.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 457.99049367636775, + 38.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 460.58856988772106, + 37.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 463.1866460990744, + 35.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 465.7847223104277, + 34.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 468.382798521781, + 32.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 470.98087473313433, + 31.251116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 473.57895094448764, + 29.751116210127336, + 0.6205988284449635 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 473.57895094448764, + 29.751116210127336, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 475.07895094448764, + 27.15303999877402, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 476.57895094448764, + 24.554963787420704, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 478.07895094448764, + 21.956887576067388, + 0.6205988284449635 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 479.57895094448764, + 19.35881136471407, + 0.6205988284449635 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-49-55_1973594324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-49-55_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c53e8175ec31c3036d4cccab06e35c93994bffde --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-49-55_1973594324/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 249.79421388724955, + 772.1480162064119, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 251.29421388724955, + 769.5499399950586, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 252.79421388724955, + 766.9518637837052, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 254.29421388724955, + 764.3537875723518, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 255.79421388724955, + 761.7557113609985, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 257.29421388724955, + 759.1576351496451, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.79421388724955, + 756.5595589382917, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 260.29421388724955, + 753.9614827269384, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 261.79421388724955, + 751.363406515585, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 263.29421388724955, + 748.7653303042316, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 264.79421388724955, + 746.1672540928782, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 266.29421388724955, + 743.5691778815249, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 267.79421388724955, + 740.9711016701715, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 269.29421388724955, + 738.3730254588181, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 270.79421388724955, + 735.7749492474647, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 272.29421388724955, + 733.1768730361114, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 273.79421388724955, + 730.578796824758, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.29421388724955, + 727.9807206134046, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 276.79421388724955, + 725.3826444020513, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 278.29421388724955, + 722.7845681906979, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 279.79421388724955, + 720.1864919793445, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 281.29421388724955, + 717.5884157679911, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 282.79421388724955, + 714.9903395566378, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 284.29421388724955, + 712.3922633452844, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 285.79421388724955, + 709.794187133931, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 287.29421388724955, + 707.1961109225776, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 288.79421388724955, + 704.5980347112243, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 290.29421388724955, + 701.9999584998709, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 291.79421388724955, + 699.4018822885175, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 293.29421388724955, + 696.8038060771642, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 294.79421388724955, + 694.2057298658108, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 296.29421388724955, + 691.6076536544574, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 297.79421388724955, + 689.009577443104, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 299.29421388724955, + 686.4115012317507, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 300.79421388724955, + 683.8134250203973, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 302.29421388724955, + 681.2153488090439, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 303.79421388724955, + 678.6172725976905, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 305.29421388724955, + 676.0191963863372, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 306.79421388724955, + 673.4211201749838, + -2.6873190655452976 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 308.29421388724955, + 670.8230439636304, + -2.6873190655452976 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-51-7_184803526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-51-7_184803526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40b14cb2ddd0cecca2d5fd17aa810381b34b7265 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-51-7_184803526/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 150.09140280372014, + 737.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 152.68947901507346, + 738.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 155.28755522642678, + 740.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 157.8856314377801, + 741.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 160.4837076491334, + 743.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 163.08178386048672, + 744.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 165.67986007184004, + 746.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 168.27793628319336, + 747.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 170.87601249454667, + 749.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 173.4740887059, + 750.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 176.0721649172533, + 752.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 178.67024112860662, + 753.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 181.26831733995994, + 755.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 183.86639355131325, + 756.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 186.46446976266657, + 758.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 189.06254597401988, + 759.5231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 191.6606221853732, + 761.0231537145156, + -1.9603260188944933 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 191.6606221853732, + 761.0231537145156, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 193.1606221853732, + 763.6212299258689, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 194.6606221853732, + 766.2193061372222, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 196.1606221853732, + 768.8173823485756, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 197.6606221853732, + 771.415458559929, + -1.9603260188944933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.1606221853732, + 774.0135347712824, + -1.9603260188944933 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-52-10_749241873/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-52-10_749241873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5275c717d9f4389a3b6b0fb24be77520187d5ccf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-52-10_749241873/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 229.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 232.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 235.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 238.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 241.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 244.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 247.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 250.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 256.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 259.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 268.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 268.12918139170455, + 648.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 270.72725760305786, + 650.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 273.3253338144112, + 651.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 275.9234100257645, + 653.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 278.5214862371178, + 654.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 281.11956244847113, + 656.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 283.71763865982444, + 657.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 286.31571487117776, + 659.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 288.9137910825311, + 660.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 291.5118672938844, + 662.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 294.1099435052377, + 663.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 296.708019716591, + 665.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 299.30609592794434, + 666.9370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 301.90417213929766, + 668.4370757287883, + 1.9094623080042092 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 304.502248350651, + 669.9370757287883, + 1.9094623080042092 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-15_1827336327/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-15_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af06f31ca13a0a01ad58d16eb8d9a9dec679e372 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_18-54-15_1827336327/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 350.9250442646816, + 2.273520413389008, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 350.9250442646816, + -0.7264795866109921, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 350.9250442646816, + -3.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 350.9250442646816, + -6.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 350.9250442646816, + -9.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 350.9250442646816, + -12.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 350.9250442646816, + -15.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 350.9250442646816, + -18.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 350.9250442646816, + -21.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 350.9250442646816, + -24.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 350.9250442646816, + -27.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 350.9250442646816, + -30.726479586610992, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 350.9250442646816, + -33.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 350.9250442646816, + -36.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 350.9250442646816, + -39.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 350.9250442646816, + -42.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 350.9250442646816, + -45.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 350.9250442646816, + -48.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 350.9250442646816, + -51.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 350.9250442646816, + -54.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 350.9250442646816, + -57.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 350.9250442646816, + -60.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 350.9250442646816, + -63.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 350.9250442646816, + -66.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 350.9250442646816, + -69.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 350.9250442646816, + -72.72647958661099, + -2.291192239765885 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 350.9250442646816, + -72.72647958661099, + -2.291192239765885 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 350.9250442646816, + -72.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 353.52312047603493, + -74.22647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 356.12119668738825, + -75.72647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 358.71927289874156, + -77.22647958661099, + -2.291192239765885 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 361.3173491100949, + -78.72647958661099, + -2.291192239765885 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-12-17_498777856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-12-17_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1fdd27b344bfb21354d21e17881372e703261ad6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-12-17_498777856/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -993.202969002246, + 298.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -993.202969002246, + 295.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -993.202969002246, + 292.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -993.202969002246, + 289.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -993.202969002246, + 286.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -993.202969002246, + 283.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -993.202969002246, + 280.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -993.202969002246, + 277.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -993.202969002246, + 274.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -993.202969002246, + 271.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -993.202969002246, + 268.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -993.202969002246, + 265.6057218178728, + -4.119437014238091 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -993.202969002246, + 265.6057218178728, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -991.702969002246, + 263.0076456065195, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -990.202969002246, + 260.40956939516616, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -988.702969002246, + 257.81149318381284, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -987.202969002246, + 255.21341697245953, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -985.702969002246, + 252.6153407611062, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -984.202969002246, + 250.0172645497529, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.702969002246, + 247.41918833839958, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -981.202969002246, + 244.82111212704626, + -4.119437014238091 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -979.702969002246, + 242.22303591569295, + -4.119437014238091 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-13-44_1703964683/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-13-44_1703964683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0e92aab160e2025b85afaade8c22184a89fdd93 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-13-44_1703964683/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -774.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -771.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -768.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -765.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -759.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -756.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -750.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -750.5884959212768, + 292.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -747.9904197099236, + 290.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -745.3923434985702, + 289.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -742.7942672872168, + 287.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.1961910758635, + 286.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.5981148645101, + 284.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -735.0000386531567, + 283.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -732.4019624418033, + 281.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -729.80388623045, + 280.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.2058100190966, + 278.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -724.6077338077432, + 277.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.0096575963898, + 275.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.4115813850365, + 274.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -716.8135051736831, + 272.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.2154289623297, + 271.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -711.6173527509764, + 269.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -709.019276539623, + 268.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -706.4212003282696, + 266.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -703.8231241169162, + 265.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -701.2250479055629, + 263.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -698.6269716942095, + 262.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -696.0288954828561, + 260.68183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -693.4308192715027, + 259.18183767281926, + -0.769237545822631 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -693.4308192715027, + 259.18183767281926, + -0.769237545822631 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -690.4308192715027, + 259.18183767281926, + -0.769237545822631 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-18-39_168002245/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-18-39_168002245/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ba79c2552b02332843e6e7f1f1a955d10136e85 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-18-39_168002245/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -847.9667952875777, + 311.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -850.5648714989311, + 313.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -853.1629477102845, + 314.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -855.7610239216378, + 316.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -858.3591001329912, + 317.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -860.9571763443446, + 319.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -863.555252555698, + 320.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -866.1533287670513, + 322.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -868.7514049784047, + 323.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -871.3494811897581, + 325.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -873.9475574011115, + 326.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -876.5456336124648, + 328.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -879.1437098238182, + 329.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -881.7417860351716, + 331.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -884.339862246525, + 332.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -886.9379384578783, + 334.3731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -889.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -889.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -892.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -895.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -898.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -901.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -904.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -907.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -910.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -913.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -916.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -919.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -922.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -925.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -928.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -931.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -937.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -940.5360146692317, + 335.8731776768255, + -2.829819099259261 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-0_387346491/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-0_387346491/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb2688a3e4868e759acfcae166b10188d78dffb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-24-0_387346491/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -640.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -637.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -634.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -631.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -631.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -631.147005682194, + 254.51451494023473, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -629.647005682194, + 251.91643872888142, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -628.147005682194, + 249.3183625175281, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -626.647005682194, + 246.72028630617478, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -625.147005682194, + 244.12221009482147, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -623.647005682194, + 241.52413388346815, + 1.6389548673764667 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -623.647005682194, + 241.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.0489294708407, + 240.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -618.4508532594873, + 238.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -615.8527770481339, + 237.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -613.2547008367806, + 235.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -610.6566246254272, + 234.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -608.0585484140738, + 232.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -605.4604722027204, + 231.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -602.8623959913671, + 229.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -600.2643197800137, + 228.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -597.6662435686603, + 226.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -595.068167357307, + 225.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -592.4700911459536, + 223.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -589.8720149346002, + 222.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -587.2739387232468, + 220.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -584.6758625118935, + 219.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -582.0777863005401, + 217.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -579.4797100891867, + 216.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -576.8816338778333, + 214.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -574.28355766648, + 213.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -571.6854814551266, + 211.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -569.0874052437732, + 210.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -566.4893290324198, + 208.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -563.8912528210665, + 207.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -561.2931766097131, + 205.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -558.6951003983597, + 204.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -556.0970241870064, + 202.52413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -553.498947975653, + 201.02413388346815, + 1.6389548673764667 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -550.9008717642996, + 199.52413388346815, + 1.6389548673764667 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-26-26_1476153275/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-26-26_1476153275/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d528ce334492a7848895d3b2dc2181a619bd4c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-26-26_1476153275/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -981.8306594534399, + 203.09396867466143, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.3306594534399, + 205.69204488601474, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -984.8306594534399, + 208.29012109736806, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -986.3306594534399, + 210.88819730872137, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -987.8306594534399, + 213.4862735200747, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -989.3306594534399, + 216.084349731428, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -990.8306594534399, + 218.68242594278132, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -992.3306594534399, + 221.28050215413464, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -993.8306594534399, + 223.87857836548795, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -995.3306594534399, + 226.47665457684127, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -996.8306594534399, + 229.07473078819459, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -998.3306594534399, + 231.6728069995479, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -999.8306594534399, + 234.27088321090122, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1001.3306594534399, + 236.86895942225453, + 4.462290597876596 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1001.3306594534399, + 236.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1001.3306594534399, + 239.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1001.3306594534399, + 242.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1001.3306594534399, + 245.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1001.3306594534399, + 248.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1001.3306594534399, + 251.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1001.3306594534399, + 254.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1001.3306594534399, + 257.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.3306594534399, + 260.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1001.3306594534399, + 263.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1001.3306594534399, + 266.86895942225453, + 4.462290597876596 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1001.3306594534399, + 269.86895942225453, + 4.462290597876596 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-31-50_1432114613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-31-50_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..184a454f01bb4747e09f0158c14425e04bd01c07 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-31-50_1432114613/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -154.27210943333796, + 307.5855207922303, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -152.77210943333796, + 310.1835970035836, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -151.27210943333796, + 312.7816732149369, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -149.77210943333796, + 315.37974942629023, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -148.27210943333796, + 317.97782563764355, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -146.77210943333796, + 320.57590184899686, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -145.27210943333796, + 323.1739780603502, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -143.77210943333796, + 325.7720542717035, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -142.27210943333796, + 328.3701304830568, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -140.77210943333796, + 330.9682066944101, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -139.27210943333796, + 333.56628290576344, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -137.77210943333796, + 336.16435911711676, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -136.27210943333796, + 338.7624353284701, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -134.77210943333796, + 341.3605115398234, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -133.27210943333796, + 343.9585877511767, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -131.77210943333796, + 346.55666396253, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -130.27210943333796, + 349.15474017388334, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -128.77210943333796, + 351.75281638523666, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -127.27210943333796, + 354.35089259659, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -125.77210943333796, + 356.9489688079433, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -124.27210943333796, + 359.5470450192966, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -122.77210943333796, + 362.1451212306499, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -121.27210943333796, + 364.74319744200324, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -119.77210943333796, + 367.34127365335655, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -118.27210943333796, + 369.93934986470987, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -116.77210943333796, + 372.5374260760632, + -2.928136422329142 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -115.27210943333796, + 375.1355022874165, + -2.928136422329142 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-33_1782436840/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-33_1782436840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..034300524dc8e1c775820a108a58d22c3a6ff80d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-33_1782436840/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -753.8018149252009, + 143.81430981346972, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -752.3018149252009, + 146.41238602482304, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -750.8018149252009, + 149.01046223617635, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -749.3018149252009, + 151.60853844752967, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -747.8018149252009, + 154.20661465888298, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -746.3018149252009, + 156.8046908702363, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -744.8018149252009, + 159.40276708158962, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -743.3018149252009, + 162.00084329294293, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -741.8018149252009, + 164.59891950429625, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.3018149252009, + 167.19699571564956, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -738.8018149252009, + 169.79507192700288, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -737.3018149252009, + 172.3931481383562, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -735.8018149252009, + 174.9912243497095, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -734.3018149252009, + 177.58930056106283, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -732.8018149252009, + 180.18737677241614, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -731.3018149252009, + 182.78545298376946, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -729.8018149252009, + 185.38352919512278, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -728.3018149252009, + 187.9816054064761, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -726.8018149252009, + 190.5796816178294, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -725.3018149252009, + 193.17775782918272, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -723.8018149252009, + 195.77583404053604, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -722.3018149252009, + 198.37391025188936, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -720.8018149252009, + 200.97198646324267, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.3018149252009, + 203.570062674596, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -717.8018149252009, + 206.1681388859493, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -716.3018149252009, + 208.76621509730262, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -714.8018149252009, + 211.36429130865594, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -713.3018149252009, + 213.96236752000925, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -711.8018149252009, + 216.56044373136257, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -710.3018149252009, + 219.15851994271588, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -708.8018149252009, + 221.7565961540692, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -707.3018149252009, + 224.35467236542252, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -705.8018149252009, + 226.95274857677583, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -704.3018149252009, + 229.55082478812915, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -702.8018149252009, + 232.14890099948246, + -0.17056416783543327 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -701.3018149252009, + 234.74697721083578, + -0.17056416783543327 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-50_1909002904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-50_1909002904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06834feb62ca9a35e3160b3a699bcb2201a33444 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-50_1909002904/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -458.83135921452015, + -328.0276556635991, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -460.33135921452015, + -325.4295794522458, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -461.83135921452015, + -322.83150324089246, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -463.33135921452015, + -320.23342702953914, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -464.83135921452015, + -317.6353508181858, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -466.33135921452015, + -315.0372746068325, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -467.83135921452015, + -312.4391983954792, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -469.33135921452015, + -309.8411221841259, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -470.83135921452015, + -307.24304597277256, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -472.33135921452015, + -304.64496976141925, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -473.83135921452015, + -302.04689355006593, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -475.33135921452015, + -299.4488173387126, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -476.83135921452015, + -296.8507411273593, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -478.33135921452015, + -294.252664916006, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -479.83135921452015, + -291.65458870465267, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -481.33135921452015, + -289.05651249329935, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -482.83135921452015, + -286.45843628194604, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -484.33135921452015, + -283.8603600705927, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -485.83135921452015, + -281.2622838592394, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -487.33135921452015, + -278.6642076478861, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -488.83135921452015, + -276.06613143653277, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -490.33135921452015, + -273.46805522517946, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -491.83135921452015, + -270.86997901382614, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -493.33135921452015, + -268.2719028024728, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -494.83135921452015, + -265.6738265911195, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -496.33135921452015, + -263.0757503797662, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -497.83135921452015, + -260.4776741684129, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -499.33135921452015, + -257.87959795705956, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -500.83135921452015, + -255.28152174570624, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -502.33135921452015, + -252.68344553435293, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -503.83135921452015, + -250.0853693229996, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -505.33135921452015, + -247.4872931116463, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -506.83135921452015, + -244.88921690029298, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -508.33135921452015, + -242.29114068893966, + 3.51118117544501 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -508.33135921452015, + -242.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -508.33135921452015, + -239.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -508.33135921452015, + -236.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -508.33135921452015, + -233.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -508.33135921452015, + -230.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -508.33135921452015, + -227.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -508.33135921452015, + -224.29114068893966, + 3.51118117544501 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -508.33135921452015, + -221.29114068893966, + 3.51118117544501 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-5_1067854538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-5_1067854538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..213a46497e092e03ee11fb02689efd88ef0bed64 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-32-5_1067854538/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 414.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 417.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 420.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 423.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 426.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 429.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 432.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 435.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 438.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 438.47599695136233, + -6.79965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 441.07407316271565, + -5.29965427876439, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 443.67214937406897, + -3.7996542787643897, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 446.2702255854223, + -2.2996542787643897, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 448.8683017967756, + -0.7996542787643899, + -0.863364393590059 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 448.8683017967756, + -0.7996542787643899, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 450.3683017967756, + 1.7984219325889261, + -0.863364393590059 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 450.3683017967756, + 1.7984219325889261, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 452.9663780081289, + 3.298421932588926, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.56445421948223, + 4.7984219325889255, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 458.16253043083555, + 6.2984219325889255, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 460.76060664218886, + 7.7984219325889255, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 463.3586828535422, + 9.298421932588925, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.9567590648955, + 10.798421932588925, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 468.5548352762488, + 12.298421932588925, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 471.1529114876021, + 13.798421932588925, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.75098769895544, + 15.298421932588925, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 476.34906391030876, + 16.798421932588923, + -0.863364393590059 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 478.9471401216621, + 18.298421932588923, + -0.863364393590059 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982984 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-10_165344818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-10_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74055928c0dd040cbed6af70f598f3f324b1e35b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-33-10_165344818/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -280.5434278085683, + -184.65854312892134, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.0434278085683, + -182.06046691756802, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -283.5434278085683, + -179.4623907062147, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.0434278085683, + -176.8643144948614, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.5434278085683, + -174.26623828350807, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.0434278085683, + -171.66816207215476, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -289.5434278085683, + -169.07008586080144, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.0434278085683, + -166.47200964944813, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -292.5434278085683, + -163.8739334380948, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.0434278085683, + -161.2758572267415, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -295.5434278085683, + -158.67778101538818, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -297.0434278085683, + -156.07970480403486, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -298.5434278085683, + -153.48162859268155, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -300.0434278085683, + -150.88355238132823, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -301.5434278085683, + -148.2854761699749, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -303.0434278085683, + -145.6873999586216, + -3.177984750132954 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -303.0434278085683, + -145.6873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -305.6415040199216, + -144.1873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -308.23958023127494, + -142.6873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -310.83765644262826, + -141.1873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -313.4357326539816, + -139.6873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -316.0338088653349, + -138.1873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -318.6318850766882, + -136.6873999586216, + -3.177984750132954 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -321.2299612880415, + -135.1873999586216, + -3.177984750132954 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-34-41_680466996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-34-41_680466996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79aa792754ad7935d309e93247ca318e87ae36c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-34-41_680466996/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -430.1238564984057, + 633.2576995087397, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -427.5257802870524, + 631.7576995087397, + 0.43555162479667686 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -427.5257802870524, + 631.7576995087397, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -426.0257802870524, + 629.1596232973864, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -424.5257802870524, + 626.561547086033, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -423.0257802870524, + 623.9634708746796, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -421.5257802870524, + 621.3653946633262, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -420.0257802870524, + 618.7673184519729, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -418.5257802870524, + 616.1692422406195, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -417.0257802870524, + 613.5711660292661, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -415.5257802870524, + 610.9730898179128, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -414.0257802870524, + 608.3750136065594, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -412.5257802870524, + 605.776937395206, + 0.43555162479667686 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -412.5257802870524, + 605.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -409.92770407569907, + 604.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -407.32962786434575, + 602.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -404.73155165299244, + 601.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -402.1334754416391, + 599.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -399.5353992302858, + 598.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.9373230189325, + 596.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -394.3392468075792, + 595.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -391.74117059622586, + 593.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -389.14309438487254, + 592.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -386.5450181735192, + 590.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -383.9469419621659, + 589.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -381.3488657508126, + 587.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -378.7507895394593, + 586.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -376.15271332810596, + 584.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -373.55463711675264, + 583.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -370.95656090539933, + 581.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -368.358484694046, + 580.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -365.7604084826927, + 578.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -363.1623322713394, + 577.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -360.56425605998606, + 575.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -357.96617984863275, + 574.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -355.36810363727943, + 572.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -352.7700274259261, + 571.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -350.1719512145728, + 569.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -347.5738750032195, + 568.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -344.97579879186617, + 566.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -342.37772258051285, + 565.276937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -339.77964636915954, + 563.776937395206, + 0.43555162479667686 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -337.1815701578062, + 562.276937395206, + 0.43555162479667686 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-46_2027907669/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-46_2027907669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..816169147437ec90bb63ac5ac9b0a82033104645 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-38-46_2027907669/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -731.5045100607684, + 31.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -734.1025862721217, + 33.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -736.7006624834751, + 34.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.2987386948284, + 36.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -741.8968149061818, + 37.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.4948911175352, + 39.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -747.0929673288886, + 40.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -749.6910435402419, + 42.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -752.2891197515953, + 43.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -754.8871959629487, + 45.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -757.485272174302, + 46.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -760.0833483856554, + 48.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -762.6814245970088, + 49.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.2795008083622, + 51.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -767.8775770197155, + 52.63014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.4756532310689, + 54.13014084081393, + -1.484637913814033 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -770.4756532310689, + 54.13014084081393, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.9756532310689, + 56.728217052167246, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -773.4756532310689, + 59.32629326352056, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -774.9756532310689, + 61.92436947487388, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -776.4756532310689, + 64.5224456862272, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -777.9756532310689, + 67.12052189758052, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -779.4756532310689, + 69.71859810893383, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -780.9756532310689, + 72.31667432028715, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -782.4756532310689, + 74.91475053164046, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.9756532310689, + 77.51282674299378, + -1.484637913814033 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -785.4756532310689, + 80.1109029543471, + -1.484637913814033 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-39-33_1820388464/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-39-33_1820388464/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0df7ea2ca9f8fab05be7cee51825e3d295f15d02 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-39-33_1820388464/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -70.8951074912124, + -501.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -73.49318370256572, + -500.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.09125991391903, + -498.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -78.68933612527235, + -497.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.28741233662566, + -495.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -83.88548854797898, + -494.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -86.4835647593323, + -492.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -89.08164097068561, + -491.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -91.67971718203893, + -489.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -94.27779339339224, + -488.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -96.87586960474556, + -486.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -99.47394581609888, + -485.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.07202202745219, + -483.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -104.67009823880551, + -482.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.26817445015882, + -480.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -109.86625066151214, + -479.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -112.46432687286546, + -477.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -115.06240308421877, + -476.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -117.66047929557209, + -474.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -120.2585555069254, + -473.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -122.85663171827872, + -471.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.45470792963204, + -470.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.05278414098535, + -468.8141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -130.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -133.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -136.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -139.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -142.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -145.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -148.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -151.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -157.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -160.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -163.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -166.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -169.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -172.65086035233867, + -467.3141150333946, + -4.385312554771071 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-17_1529195746/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-17_1529195746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f8d6a202ebdadb1b4be534246cb7443088f9fe8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-42-17_1529195746/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -545.7810728160465, + 77.60321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -548.3791490273998, + 76.10321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -550.9772252387531, + 74.60321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -553.5753014501065, + 73.10321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -556.1733776614599, + 71.60321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -558.7714538728133, + 70.10321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -561.3695300841666, + 68.60321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -563.96760629552, + 67.10321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -566.5656825068734, + 65.60321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -569.1637587182267, + 64.10321573431565, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -571.7618349295801, + 62.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -574.3599111409335, + 61.103215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -576.9579873522869, + 59.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -579.5560635636402, + 58.103215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -582.1541397749936, + 56.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -584.752215986347, + 55.103215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -587.3502921977004, + 53.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -589.9483684090537, + 52.103215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -592.5464446204071, + 50.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -595.1445208317605, + 49.103215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -597.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -597.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -600.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -603.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -606.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -609.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -612.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -615.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -618.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -621.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -624.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -627.7425970431138, + 47.603215734315654, + 1.738481712637184 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-5-9_1892066601/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-5-9_1892066601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e45c230fa61285aa6d5b1a75cb0d7194fcc3148d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-5-9_1892066601/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -818.0514667219306, + -64.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -818.0514667219306, + -61.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -818.0514667219306, + -58.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -818.0514667219306, + -55.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -818.0514667219306, + -52.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -818.0514667219306, + -49.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -818.0514667219306, + -46.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -818.0514667219306, + -43.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -818.0514667219306, + -40.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -818.0514667219306, + -37.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -818.0514667219306, + -34.72421494310247, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -818.0514667219306, + -31.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -818.0514667219306, + -28.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -818.0514667219306, + -25.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -818.0514667219306, + -22.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -818.0514667219306, + -19.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -818.0514667219306, + -16.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -818.0514667219306, + -13.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -818.0514667219306, + -10.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -818.0514667219306, + -7.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -818.0514667219306, + -4.724214943102467, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -818.0514667219306, + -1.7242149431024671, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -818.0514667219306, + 1.2757850568975329, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -818.0514667219306, + 4.275785056897533, + -4.391933348384874 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -818.0514667219306, + 4.275785056897533, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -819.5514667219306, + 6.873861268250849, + -4.391933348384874 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -821.0514667219306, + 9.471937479604165, + -4.391933348384874 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-6-13_603570492/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-6-13_603570492/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1b5088fc67e255120f3f7fb65ce87584c1e2f8a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-6-13_603570492/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -334.0126364970272, + -122.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -336.6107127083805, + -123.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -339.2087889197338, + -125.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -341.80686513108714, + -126.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -344.40494134244045, + -128.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -347.00301755379377, + -129.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -349.6010937651471, + -131.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -352.1991699765004, + -132.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -354.7972461878537, + -134.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.39532239920703, + -135.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -359.99339861056035, + -137.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -362.59147482191366, + -138.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -365.189551033267, + -140.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -367.7876272446203, + -141.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -370.3857034559736, + -143.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -372.9837796673269, + -144.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -375.58185587868024, + -146.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -378.17993209003356, + -147.81845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -380.7780083013869, + -149.31845724113282, + 2.3831334298012194 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -380.7780083013869, + -149.31845724113282, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -382.2780083013869, + -151.91653345248614, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -383.7780083013869, + -154.51460966383945, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -385.2780083013869, + -157.11268587519277, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -386.7780083013869, + -159.71076208654608, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -388.2780083013869, + -162.3088382978994, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -389.7780083013869, + -164.90691450925272, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -391.2780083013869, + -167.50499072060603, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -392.7780083013869, + -170.10306693195935, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -394.2780083013869, + -172.70114314331266, + 2.3831334298012194 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -395.7780083013869, + -175.29921935466598, + 2.3831334298012194 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-40_364228444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-40_364228444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b717a8af78d5ee821e45876b115151a73809115b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-40_364228444/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -674.4960549159183, + -6.861226192964828, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.0941311272716, + -5.361226192964828, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.6922073386249, + -3.8612261929648284, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -682.2902835499783, + -2.3612261929648284, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -684.8883597613317, + -0.8612261929648286, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -687.4864359726851, + 0.6387738070351712, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -690.0845121840384, + 2.1387738070351707, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -692.6825883953918, + 3.6387738070351707, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -695.2806646067452, + 5.138773807035171, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -697.8787408180985, + 6.638773807035171, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.4768170294519, + 8.13877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -703.0748932408053, + 9.63877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -705.6729694521587, + 11.13877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -708.271045663512, + 12.63877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -710.8691218748654, + 14.13877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -713.4671980862188, + 15.63877380703517, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -716.0652742975722, + 17.138773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -718.6633505089255, + 18.638773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -721.2614267202789, + 20.138773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -723.8595029316323, + 21.638773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -726.4575791429857, + 23.138773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.055655354339, + 24.638773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -731.6537315656924, + 26.138773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -734.2518077770458, + 27.638773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.8498839883991, + 29.138773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -739.4479601997525, + 30.638773807035168, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -742.0460364111059, + 32.138773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991505 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -744.6441126224593, + 33.638773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -747.2421888338126, + 35.138773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -749.840265045166, + 36.638773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -752.4383412565194, + 38.138773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -755.0364174678728, + 39.638773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -757.6344936792261, + 41.138773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -760.2325698905795, + 42.638773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -762.8306461019329, + 44.138773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -765.4287223132862, + 45.638773807035165, + 0.5533830883753277 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -768.0267985246396, + 47.138773807035165, + 0.5533830883753277 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-58_1947346619/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-58_1947346619/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..387cc62814dc549332a18905badc94a43208034d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_19-8-58_1947346619/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -684.875824175311, + 81.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -682.2777479639576, + 80.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.6796717526042, + 78.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -677.0815955412509, + 77.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -674.4835193298975, + 75.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -671.8854431185441, + 74.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.2873669071907, + 72.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -666.6892906958374, + 71.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -664.091214484484, + 69.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -661.4931382731306, + 68.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.8950620617773, + 66.57217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -656.2969858504239, + 65.07217030729655, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -653.6989096390705, + 63.572170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -651.1008334277171, + 62.072170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -648.5027572163638, + 60.572170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -645.9046810050104, + 59.072170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -643.306604793657, + 57.572170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -640.7085285823036, + 56.072170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -638.1104523709503, + 54.572170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -635.5123761595969, + 53.072170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -632.9142999482435, + 51.572170307296545, + -2.209314730000396 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -630.3162237368902, + 50.072170307296545, + -2.209314730000396 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-24-11_1804289383/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-24-11_1804289383/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d0911d52e9242f7197bd0b8564f4718c2347e13 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-24-11_1804289383/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -655.5959538122449, + 145.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -655.5959538122449, + 142.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -655.5959538122449, + 139.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -655.5959538122449, + 136.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -655.5959538122449, + 133.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -655.5959538122449, + 130.7171505781359, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -655.5959538122449, + 127.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -655.5959538122449, + 124.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -655.5959538122449, + 121.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -655.5959538122449, + 118.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -655.5959538122449, + 115.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -655.5959538122449, + 112.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -655.5959538122449, + 109.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -655.5959538122449, + 106.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -655.5959538122449, + 103.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -655.5959538122449, + 100.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -655.5959538122449, + 97.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -655.5959538122449, + 94.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.5959538122449, + 91.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -655.5959538122449, + 88.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -655.5959538122449, + 85.71715057813589, + 1.0789850071852412 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -655.5959538122449, + 82.71715057813589, + 1.0789850071852412 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-29-13_1303455736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-29-13_1303455736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e306c90f27fc659574d87a1134c92501b6108843 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-29-13_1303455736/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -798.0435384112561, + 70.76355464723444, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.5435384112561, + 68.16547843588113, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -801.0435384112561, + 65.56740222452781, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -802.5435384112561, + 62.969326013174495, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -804.0435384112561, + 60.37124980182118, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -805.5435384112561, + 57.77317359046786, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.0435384112561, + 55.17509737911455, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -808.5435384112561, + 52.57702116776123, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -810.0435384112561, + 49.978944956407915, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.5435384112561, + 47.3808687450546, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -813.0435384112561, + 44.78279253370128, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -814.5435384112561, + 42.18471632234797, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -816.0435384112561, + 39.58664011099465, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -817.5435384112561, + 36.988563899641335, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -819.0435384112561, + 34.39048768828802, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -820.5435384112561, + 31.792411476934703, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -822.0435384112561, + 29.194335265581387, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -823.5435384112561, + 26.59625905422807, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -825.0435384112561, + 23.998182842874755, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -826.5435384112561, + 21.40010663152144, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -828.0435384112561, + 18.802030420168123, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -829.5435384112561, + 16.203954208814807, + 3.0545561384239814 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -829.5435384112561, + 16.203954208814807, + 3.0545561384239814 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -832.1416146226095, + 14.703954208814807, + 3.0545561384239814 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-30-53_861021530/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-30-53_861021530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a34df39a92d823c8fd59ca5f100410a17a7c3dfe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-30-53_861021530/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.8313891499049, + 36.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.8313891499049, + 39.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.8313891499049, + 42.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -737.8313891499049, + 45.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.8313891499049, + 48.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -737.8313891499049, + 51.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -737.8313891499049, + 54.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -737.8313891499049, + 57.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -737.8313891499049, + 60.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -737.8313891499049, + 63.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -737.8313891499049, + 66.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -737.8313891499049, + 69.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -737.8313891499049, + 72.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -737.8313891499049, + 75.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -737.8313891499049, + 78.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.8313891499049, + 81.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -737.8313891499049, + 84.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.8313891499049, + 87.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.8313891499049, + 90.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -737.8313891499049, + 93.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -737.8313891499049, + 96.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.8313891499049, + 99.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -737.8313891499049, + 102.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -737.8313891499049, + 105.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -737.8313891499049, + 108.08104105836091, + -3.3121868117704016 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -737.8313891499049, + 108.08104105836091, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -736.3313891499049, + 110.67911726971423, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -734.8313891499049, + 113.27719348106754, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -733.3313891499049, + 115.87526969242086, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -731.8313891499049, + 118.47334590377417, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -730.3313891499049, + 121.07142211512749, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -728.8313891499049, + 123.6694983264808, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -727.3313891499049, + 126.26757453783412, + -3.3121868117704016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -725.8313891499049, + 128.86565074918744, + -3.3121868117704016 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-34-56_1131176229/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-34-56_1131176229/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf1c22defcf36de1f01527d145cff868607acf9c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-34-56_1131176229/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -585.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -582.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -579.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -576.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -573.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -570.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -567.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -564.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -561.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -558.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -555.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -552.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -549.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -546.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -543.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -540.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -537.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -534.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -531.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -528.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -525.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -522.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -519.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -516.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -513.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -513.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -513.4230677917208, + -225.186479728954, + -3.5548886934367356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -511.92306779172077, + -222.58840351760068, + -3.5548886934367356 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-39-10_137806862/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-39-10_137806862/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a8ab9338e38aaf15d0de84d4e96d89c4e40c76d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-39-10_137806862/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -866.4056844332155, + 266.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -869.0037606445687, + 267.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -871.6018368559221, + 269.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -874.1999130672755, + 270.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -876.7979892786288, + 272.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -879.3960654899822, + 273.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -881.9941417013356, + 275.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -884.592217912689, + 276.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -887.1902941240423, + 278.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -889.7883703353957, + 279.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -892.3864465467491, + 281.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -894.9845227581025, + 282.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -897.5825989694558, + 284.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -900.1806751808092, + 285.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -902.7787513921626, + 287.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -905.376827603516, + 288.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -907.9749038148693, + 290.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -910.5729800262227, + 291.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -913.1710562375761, + 293.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -915.7691324489294, + 294.7682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -918.3672086602828, + 296.2682942597783, + 3.053475224821071 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -918.3672086602828, + 296.2682942597783, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -919.8672086602828, + 298.86637047113163, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -921.3672086602828, + 301.46444668248495, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -922.8672086602828, + 304.06252289383826, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -924.3672086602828, + 306.6605991051916, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -925.8672086602828, + 309.2586753165449, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -927.3672086602828, + 311.8567515278982, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -928.8672086602828, + 314.4548277392515, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -930.3672086602828, + 317.05290395060484, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -931.8672086602828, + 319.65098016195816, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -933.3672086602828, + 322.2490563733115, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -934.8672086602828, + 324.8471325846648, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -936.3672086602828, + 327.4452087960181, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -937.8672086602828, + 330.0432850073714, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -939.3672086602828, + 332.64136121872474, + 3.053475224821071 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -940.8672086602828, + 335.23943743007806, + 3.053475224821071 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-57_1827336327/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-57_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bcda24a3b57bfa9c12ce38bdea4437867a7407b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-40-57_1827336327/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -814.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -817.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -820.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -826.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -829.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -832.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -835.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -838.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -841.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -844.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -847.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -850.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -853.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -856.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -859.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -862.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -865.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -868.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -871.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -874.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -877.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -880.3839918269608, + 417.7380998529843, + -0.9712302667424488 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-13_1548233367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-13_1548233367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..62e2bd96bb54bc4bf9742e20815a97e175432d6e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-13_1548233367/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -704.5385024668092, + 192.95138471937756, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -706.0385024668092, + 190.35330850802424, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -707.5385024668092, + 187.75523229667093, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.0385024668092, + 185.1571560853176, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -710.5385024668092, + 182.5590798739643, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -712.0385024668092, + 179.96100366261098, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.5385024668092, + 177.36292745125766, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -715.0385024668092, + 174.76485123990435, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -716.5385024668092, + 172.16677502855103, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.0385024668092, + 169.5686988171977, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.5385024668092, + 166.9706226058444, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.0385024668092, + 164.37254639449108, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -722.5385024668092, + 161.77447018313777, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.0385024668092, + 159.17639397178445, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -725.5385024668092, + 156.57831776043113, + -1.583549693622051 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -725.5385024668092, + 156.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -725.5385024668092, + 153.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -725.5385024668092, + 150.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -725.5385024668092, + 147.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -725.5385024668092, + 144.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -725.5385024668092, + 141.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -725.5385024668092, + 138.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -725.5385024668092, + 135.57831776043113, + -1.583549693622051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.5385024668092, + 132.57831776043113, + -1.583549693622051 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-39_1585990364/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-39_1585990364/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a5d45c64e6d4e4e956c9244a7f5c46af24ad509 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-44-39_1585990364/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -855.8987849445477, + 305.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -858.4968611559011, + 307.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -861.0949373672545, + 308.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -863.6930135786079, + 310.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -866.2910897899612, + 311.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -868.8891660013146, + 313.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -871.487242212668, + 314.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -874.0853184240214, + 316.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -876.6833946353747, + 317.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -879.2814708467281, + 319.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -881.8795470580815, + 320.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -884.4776232694348, + 322.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -887.0756994807882, + 323.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -889.6737756921416, + 325.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -892.271851903495, + 326.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -894.8699281148483, + 328.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -897.4680043262017, + 329.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -900.0660805375551, + 331.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -902.6641567489085, + 332.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -905.2622329602618, + 334.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -907.8603091716152, + 335.74519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -910.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -910.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -913.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -916.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -919.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -922.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -925.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -928.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -931.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -934.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -937.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -940.4583853829686, + 337.24519263814796, + 2.722828157235325 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-47-10_491705403/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-47-10_491705403/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..abee8c4460ba84b00142408f056eaf101fa9085d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-47-10_491705403/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 224.09670905505166, + 663.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 224.09670905505166, + 666.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 224.09670905505166, + 669.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 224.09670905505166, + 672.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 224.09670905505166, + 675.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 224.09670905505166, + 678.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 224.09670905505166, + 681.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 224.09670905505166, + 684.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 224.09670905505166, + 687.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 224.09670905505166, + 690.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 224.09670905505166, + 693.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 224.09670905505166, + 696.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 224.09670905505166, + 699.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 224.09670905505166, + 702.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 224.09670905505166, + 705.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 224.09670905505166, + 708.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 224.09670905505166, + 711.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 224.09670905505166, + 714.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 224.09670905505166, + 717.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 224.09670905505166, + 720.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 224.09670905505166, + 723.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 224.09670905505166, + 726.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 224.09670905505166, + 729.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 224.09670905505166, + 732.365044632426, + -4.486573929633484 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 224.09670905505166, + 732.365044632426, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.59670905505166, + 734.9631208437793, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 221.09670905505166, + 737.5611970551327, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 219.59670905505166, + 740.159273266486, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 218.09670905505166, + 742.7573494778394, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 216.59670905505166, + 745.3554256891928, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 215.09670905505166, + 747.9535019005461, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 213.59670905505166, + 750.5515781118995, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 212.09670905505166, + 753.1496543232529, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 210.59670905505166, + 755.7477305346063, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 209.09670905505166, + 758.3458067459596, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 207.59670905505166, + 760.943882957313, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 206.09670905505166, + 763.5419591686664, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 204.59670905505166, + 766.1400353800198, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 203.09670905505166, + 768.7381115913731, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 201.59670905505166, + 771.3361878027265, + -4.486573929633484 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 200.09670905505166, + 773.9342640140799, + -4.486573929633484 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-59-13_498777856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-59-13_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16a5b19474fc2af22391643f58c479f13e1bd869 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_20-59-13_498777856/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -568.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -571.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -574.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -577.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -580.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -583.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -586.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -589.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -592.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -595.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -598.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -601.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -604.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -607.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -610.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -613.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -616.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -619.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -622.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -628.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -628.3174734768531, + 66.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -630.9155496882065, + 68.4092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -633.5136258995599, + 69.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -636.1117021109133, + 71.4092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -638.7097783222666, + 72.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -641.30785453362, + 74.4092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -643.9059307449734, + 75.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -646.5040069563267, + 77.4092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -649.1020831676801, + 78.9092090052638, + 2.001689163929166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -651.7001593790335, + 80.4092090052638, + 2.001689163929166 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-1-37_160051528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-1-37_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2efea8cb9a0926e61fae228c61754811c07da3a2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-1-37_160051528/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -331.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -328.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -325.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -322.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -322.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -322.1415109658047, + -428.9857146927934, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -320.6415109658047, + -431.5837909041467, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -319.1415109658047, + -434.18186711550004, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -317.6415109658047, + -436.77994332685336, + -1.63283291875769 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -317.6415109658047, + -436.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -315.04343475445137, + -438.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -312.44535854309805, + -439.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -309.84728233174474, + -441.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -307.2492061203914, + -442.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -304.6511299090381, + -444.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -302.0530536976848, + -445.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.4549774863315, + -447.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -296.85690127497816, + -448.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -294.25882506362484, + -450.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -291.6607488522715, + -451.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -289.0626726409182, + -453.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -286.4645964295649, + -454.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -283.8665202182116, + -456.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -281.26844400685826, + -457.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -278.67036779550494, + -459.27994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -276.0722915841516, + -460.77994332685336, + -1.63283291875769 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -273.4742153727983, + -462.27994332685336, + -1.63283291875769 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-11-56_1186452551/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-11-56_1186452551/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06233b1867a03b6d35c933d6e9559e656fe55ecc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-11-56_1186452551/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -167.93444128974735, + 16.86957493867395, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -167.93444128974735, + 13.86957493867395, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -167.93444128974735, + 10.86957493867395, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -167.93444128974735, + 7.869574938673949, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -167.93444128974735, + 4.869574938673949, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -167.93444128974735, + 1.8695749386739493, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -167.93444128974735, + -1.1304250613260507, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.93444128974735, + -4.130425061326051, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -167.93444128974735, + -7.130425061326051, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.93444128974735, + -10.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -167.93444128974735, + -13.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -167.93444128974735, + -16.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -167.93444128974735, + -19.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -167.93444128974735, + -22.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -167.93444128974735, + -25.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -167.93444128974735, + -28.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -167.93444128974735, + -31.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -167.93444128974735, + -34.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -167.93444128974735, + -37.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -167.93444128974735, + -40.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -167.93444128974735, + -43.13042506132605, + -1.4969943879870562 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -167.93444128974735, + -43.13042506132605, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -166.43444128974735, + -45.72850127267937, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -164.93444128974735, + -48.32657748403268, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -163.43444128974735, + -50.924653695386, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -161.93444128974735, + -53.522729906739315, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -160.43444128974735, + -56.12080611809263, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -158.93444128974735, + -58.71888232944595, + -1.4969943879870562 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -157.43444128974735, + -61.31695854079926, + -1.4969943879870562 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-12-11_1244316437/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-12-11_1244316437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f92740a874cf4db7e5da65ef1acc4befccc4769e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-12-11_1244316437/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -315.0497780071704, + 692.4857623594419, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -316.5497780071704, + 695.0838385707953, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -318.0497780071704, + 697.6819147821486, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -319.5497780071704, + 700.279990993502, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -321.0497780071704, + 702.8780672048554, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -322.5497780071704, + 705.4761434162087, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -324.0497780071704, + 708.0742196275621, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -325.5497780071704, + 710.6722958389155, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -327.0497780071704, + 713.2703720502689, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -328.5497780071704, + 715.8684482616222, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -330.0497780071704, + 718.4665244729756, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -331.5497780071704, + 721.064600684329, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -333.0497780071704, + 723.6626768956824, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -334.5497780071704, + 726.2607531070357, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -336.0497780071704, + 728.8588293183891, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -337.5497780071704, + 731.4569055297425, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -339.0497780071704, + 734.0549817410958, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -340.5497780071704, + 736.6530579524492, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -342.0497780071704, + 739.2511341638026, + -1.816796561275532 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -342.0497780071704, + 739.2511341638026, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -344.6478542185237, + 740.7511341638026, + -1.816796561275532 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -347.24593042987703, + 742.2511341638026, + -1.816796561275532 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-21-34_159259470/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-21-34_159259470/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0010f3c90a4c6a6712c5bfc256f247fa96a7a7e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-21-34_159259470/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -713.4642151652148, + 322.7776499768195, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -711.9642151652148, + 320.17957376546616, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -710.4642151652148, + 317.58149755411284, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.9642151652148, + 314.9834213427595, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.4642151652148, + 312.3853451314062, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -705.9642151652148, + 309.7872689200529, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -704.4642151652148, + 307.1891927086996, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -702.9642151652148, + 304.59111649734626, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -701.4642151652148, + 301.99304028599295, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.9642151652148, + 299.39496407463963, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -698.4642151652148, + 296.7968878632863, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -696.9642151652148, + 294.198811651933, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -695.4642151652148, + 291.6007354405797, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -693.9642151652148, + 289.00265922922637, + -0.3802175776614991 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -693.9642151652148, + 289.00265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.3661389538615, + 287.50265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.7680627425082, + 286.00265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -686.1699865311548, + 284.50265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -683.5719103198014, + 283.00265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -680.973834108448, + 281.50265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -678.3757578970947, + 280.00265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.7776816857413, + 278.50265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -673.1796054743879, + 277.00265922922637, + -0.3802175776614991 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -670.5815292630346, + 275.50265922922637, + -0.3802175776614991 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-28-24_1529195746/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-28-24_1529195746/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de9671abbe110bc24996426709ad0eec1579fe13 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-28-24_1529195746/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -714.0794391730502, + 2.272563830672084, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -712.5794391730502, + 4.8706400420254, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -711.0794391730502, + 7.468716253378716, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.5794391730502, + 10.066792464732032, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -708.0794391730502, + 12.664868676085348, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.5794391730502, + 15.262944887438664, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -705.0794391730502, + 17.86102109879198, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -703.5794391730502, + 20.459097310145296, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -702.0794391730502, + 23.057173521498612, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -700.5794391730502, + 25.655249732851928, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -699.0794391730502, + 28.253325944205244, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -697.5794391730502, + 30.85140215555856, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -696.0794391730502, + 33.449478366911876, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.5794391730502, + 36.04755457826519, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -693.0794391730502, + 38.64563078961851, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.5794391730502, + 41.243707000971824, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -690.0794391730502, + 43.84178321232514, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.5794391730502, + 46.439859423678456, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -687.0794391730502, + 49.03793563503177, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -685.5794391730502, + 51.63601184638509, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.0794391730502, + 54.234088057738404, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -682.5794391730502, + 56.83216426909172, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.0794391730502, + 59.430240480445036, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.5794391730502, + 62.02831669179835, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -678.0794391730502, + 64.62639290315167, + -2.7651843122971997 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.0794391730502, + 64.62639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -675.481362961697, + 66.12639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -672.8832867503436, + 67.62639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.2852105389902, + 69.12639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -667.6871343276368, + 70.62639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -665.0890581162835, + 72.12639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -662.4909819049301, + 73.62639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -659.8929056935767, + 75.12639290315167, + -2.7651843122971997 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -657.2948294822233, + 76.62639290315167, + -2.7651843122971997 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-36-45_620145550/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-36-45_620145550/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc12bd595db88b13e90fee4a5f0ff2cc0d486fad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-36-45_620145550/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 1.072089680359511, + 772.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 1.0720896803595112, + 769.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 1.0720896803595115, + 766.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 1.0720896803595117, + 763.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 1.072089680359512, + 760.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.0720896803595121, + 757.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 1.0720896803595124, + 754.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 1.0720896803595126, + 751.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 1.0720896803595128, + 748.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.072089680359513, + 745.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 1.0720896803595132, + 742.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 1.0720896803595135, + 739.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 1.0720896803595137, + 736.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1.072089680359514, + 733.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1.0720896803595141, + 730.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1.0720896803595144, + 727.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 1.0720896803595146, + 724.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 1.0720896803595148, + 721.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 1.072089680359515, + 718.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 1.0720896803595152, + 715.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 1.0720896803595155, + 712.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 1.0720896803595157, + 709.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 1.072089680359516, + 706.6157887288077, + 0.1117288090585502 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 1.072089680359516, + 706.6157887288077, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -0.4279103196404834, + 704.0177125174544, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1.9279103196404828, + 701.419636306101, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -3.427910319640482, + 698.8215600947476, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -4.927910319640481, + 696.2234838833942, + 0.1117288090585502 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -6.42791031964048, + 693.6254076720409, + 0.1117288090585502 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-38-19_7684930/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-38-19_7684930/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ffd52cf0c23af8676a11b4be374fab350f8b5d9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-38-19_7684930/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -267.78513071117055, + 637.6763757897826, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -269.28513071117055, + 635.0782995784293, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -270.78513071117055, + 632.480223367076, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -272.28513071117055, + 629.8821471557226, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -273.78513071117055, + 627.2840709443692, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -275.28513071117055, + 624.6859947330158, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -276.78513071117055, + 622.0879185216625, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -278.28513071117055, + 619.4898423103091, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -279.78513071117055, + 616.8917660989557, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -281.28513071117055, + 614.2936898876023, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.78513071117055, + 611.695613676249, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.28513071117055, + 609.0975374648956, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -285.78513071117055, + 606.4994612535422, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.28513071117055, + 603.9013850421888, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -288.78513071117055, + 601.3033088308355, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -290.28513071117055, + 598.7052326194821, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -291.78513071117055, + 596.1071564081287, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -293.28513071117055, + 593.5090801967754, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -294.78513071117055, + 590.911003985422, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -296.28513071117055, + 588.3129277740686, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -297.78513071117055, + 585.7148515627152, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -299.28513071117055, + 583.1167753513619, + 4.035838710244114 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.28513071117055, + 583.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -301.88320692252387, + 581.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -304.4812831338772, + 580.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.0793593452305, + 578.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -309.6774355565838, + 577.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -312.27551176793713, + 575.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -314.87358797929045, + 574.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -317.47166419064376, + 572.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -320.0697404019971, + 571.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -322.6678166133504, + 569.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -325.2658928247037, + 568.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -327.86396903605703, + 566.6167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -330.46204524741034, + 565.1167753513619, + 4.035838710244114 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -333.06012145876366, + 563.6167753513619, + 4.035838710244114 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-4-8_1373226340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-4-8_1373226340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..302bc2dcd7855616bea4522f971dbcfeb5ee4a72 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-4-8_1373226340/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -609.7929553206077, + 232.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -607.1948791092543, + 231.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -604.5968028979009, + 229.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.9987266865476, + 228.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -599.4006504751942, + 226.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.8025742638408, + 225.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -594.2044980524875, + 223.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.6064218411341, + 222.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -589.0083456297807, + 220.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -586.4102694184273, + 219.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -583.812193207074, + 217.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -581.2141169957206, + 216.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -578.6160407843672, + 214.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -576.0179645730138, + 213.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.4198883616605, + 211.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -570.8218121503071, + 210.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -568.2237359389537, + 208.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -565.6256597276004, + 207.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -563.027583516247, + 205.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -560.4295073048936, + 204.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -557.8314310935402, + 202.62716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -555.2333548821869, + 201.12716453141962, + 4.993640726774473 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -555.2333548821869, + 201.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -552.2333548821869, + 201.12716453141962, + 4.993640726774473 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -549.2333548821869, + 201.12716453141962, + 4.993640726774473 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-1_1176911340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-1_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e1b8cb8ae8052cbbfb8ab28ede03d6bc2f8b38bc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-1_1176911340/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -350.69809908036143, + 656.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -350.69809908036143, + 659.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -350.69809908036143, + 662.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -350.69809908036143, + 665.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -350.69809908036143, + 668.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -350.69809908036143, + 671.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -350.69809908036143, + 674.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -350.69809908036143, + 677.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -350.69809908036143, + 680.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -350.69809908036143, + 683.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -350.69809908036143, + 686.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -350.69809908036143, + 689.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -350.69809908036143, + 692.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -350.69809908036143, + 695.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -350.69809908036143, + 698.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -350.69809908036143, + 701.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.69809908036143, + 704.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -350.69809908036143, + 707.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -350.69809908036143, + 710.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -350.69809908036143, + 713.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -350.69809908036143, + 716.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -350.69809908036143, + 719.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -350.69809908036143, + 722.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -350.69809908036143, + 725.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -350.69809908036143, + 728.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -350.69809908036143, + 731.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -350.69809908036143, + 734.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -350.69809908036143, + 737.3789327168174, + -2.653183635298145 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -350.69809908036143, + 740.3789327168174, + -2.653183635298145 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-32_1943327684/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-32_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fcfb1c123be847d9e760229c5005d9c1d74ac5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-43-32_1943327684/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -324.54051157685853, + -320.46562638683145, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -326.04051157685853, + -323.06370259818476, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -327.54051157685853, + -325.6617788095381, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -329.04051157685853, + -328.2598550208914, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -330.54051157685853, + -330.8579312322447, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -332.04051157685853, + -333.456007443598, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -333.54051157685853, + -336.05408365495134, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -335.04051157685853, + -338.65215986630466, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -336.54051157685853, + -341.250236077658, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -338.04051157685853, + -343.8483122890113, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -339.54051157685853, + -346.4463885003646, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -341.04051157685853, + -349.0444647117179, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -342.54051157685853, + -351.64254092307124, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -344.04051157685853, + -354.24061713442455, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -345.54051157685853, + -356.83869334577787, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -347.04051157685853, + -359.4367695571312, + -0.0446954515871294 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -347.04051157685853, + -359.4367695571312, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -347.04051157685853, + -362.4367695571312, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -347.04051157685853, + -365.4367695571312, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.04051157685853, + -368.4367695571312, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -347.04051157685853, + -371.4367695571312, + -0.0446954515871294 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -347.04051157685853, + -374.4367695571312, + -0.0446954515871294 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-47-37_298625210/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-47-37_298625210/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..20007e5aa8084afac38c1d3f3e97d2c263368d6f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-47-37_298625210/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -487.93396876694396, + 159.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -490.5320449782973, + 161.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -493.1301211896506, + 162.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -495.7281974010039, + 164.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -498.3262736123572, + 165.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -500.92434982371054, + 167.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -503.52242603506386, + 168.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -506.1205022464172, + 170.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -508.7185784577705, + 171.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -511.3166546691238, + 173.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -513.9147308804771, + 174.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -516.5128070918304, + 176.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -519.1108833031838, + 177.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -521.7089595145371, + 179.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -524.3070357258905, + 180.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.9051119372439, + 182.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -529.5031881485972, + 183.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -532.1012643599506, + 185.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -534.699340571304, + 186.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -537.2974167826574, + 188.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -539.8954929940107, + 189.65488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -542.4935692053641, + 191.15488094201598, + -0.817673406416553 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -542.4935692053641, + 191.15488094201598, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -543.9935692053641, + 193.7529571533693, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -545.4935692053641, + 196.3510333647226, + -0.817673406416553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -546.9935692053641, + 198.94910957607593, + -0.817673406416553 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-48-41_1555319301/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-48-41_1555319301/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b920114d08026379002b8ecea3c5f2446911949 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-48-41_1555319301/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -322.82827519090523, + 453.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -325.42635140225855, + 455.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -328.02442761361186, + 456.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -330.6225038249652, + 458.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -333.2205800363185, + 459.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -335.8186562476718, + 461.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -338.4167324590251, + 462.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -341.01480867037844, + 464.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -343.61288488173176, + 465.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -346.2109610930851, + 467.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -348.8090373044384, + 468.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -351.4071135157917, + 470.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -354.005189727145, + 471.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -356.60326593849834, + 473.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -359.20134214985165, + 474.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -361.79941836120497, + 476.4233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -364.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -364.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -367.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -370.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -373.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -376.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -379.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -382.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -385.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -388.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -391.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -394.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -397.3974945725583, + 477.9233451184519, + 2.6619073330313086 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-56-39_1253207672/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-56-39_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aa9d5520365b0383343666b30769885462da72a4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-56-39_1253207672/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -930.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -927.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -924.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -921.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -918.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -915.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -912.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -909.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -906.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -903.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -900.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -897.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -894.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -891.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -888.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -885.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -882.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -879.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -876.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -873.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -870.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -867.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -864.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -864.4134664576062, + -11.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -861.815390246253, + -10.198556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -859.2173140348996, + -8.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -856.6192378235462, + -7.198556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -854.0211616121928, + -5.698556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -851.4230854008395, + -4.198556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -848.8250091894861, + -2.6985564033465828, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -846.2269329781327, + -1.198556403346583, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -843.6288567667793, + 0.3014435966534168, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -841.030780555426, + 1.8014435966534166, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -838.4327043440726, + 3.3014435966534164, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -835.8346281327192, + 4.801443596653416, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -833.2365519213658, + 6.301443596653416, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -830.6384757100125, + 7.801443596653416, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -828.0403994986591, + 9.301443596653415, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982892 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -825.4423232873057, + 10.801443596653415, + 1.9351480986450085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -822.8442470759524, + 12.301443596653415, + 1.9351480986450085 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-57-18_1414647625/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-57-18_1414647625/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..492d1863941323a24d661f9a314b1212bfcf16df --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-57-18_1414647625/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -628.9277445383692, + 68.82270629511352, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.4277445383692, + 66.2246300837602, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -631.9277445383692, + 63.62655387240689, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -633.4277445383692, + 61.02847766105357, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.9277445383692, + 58.430401449700256, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -636.4277445383692, + 55.83232523834694, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -637.9277445383692, + 53.23424902699362, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.4277445383692, + 50.63617281564031, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -640.9277445383692, + 48.03809660428699, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.4277445383692, + 45.440020392933675, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -643.9277445383692, + 42.84194418158036, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.4277445383692, + 40.24386797022704, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -646.9277445383692, + 37.64579175887373, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.4277445383692, + 35.04771554752041, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -649.9277445383692, + 32.449639336167095, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -651.4277445383692, + 29.85156312481378, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -652.9277445383692, + 27.253486913460463, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.4277445383692, + 24.655410702107147, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.9277445383692, + 22.05733449075383, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -657.4277445383692, + 19.459258279400515, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.9277445383692, + 16.8611820680472, + -4.800613401296149 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -658.9277445383692, + 16.8611820680472, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -661.5258207497225, + 15.3611820680472, + -4.800613401296149 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -664.1238969610758, + 13.8611820680472, + -4.800613401296149 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-58-21_1896306640/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-58-21_1896306640/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6a13b4919943b7303d32ce2ff8e5d02489ed5721 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-58-21_1896306640/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 354.1594831173191, + 720.7754716374877, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 352.6594831173191, + 718.1773954261344, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 351.1594831173191, + 715.579319214781, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.6594831173191, + 712.9812430034276, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 348.1594831173191, + 710.3831667920742, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 346.6594831173191, + 707.7850905807209, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 345.1594831173191, + 705.1870143693675, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 343.6594831173191, + 702.5889381580141, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 342.1594831173191, + 699.9908619466607, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 340.6594831173191, + 697.3927857353074, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 339.1594831173191, + 694.794709523954, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 337.6594831173191, + 692.1966333126006, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 336.1594831173191, + 689.5985571012473, + -3.2907481245107455 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 336.1594831173191, + 689.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 333.5614069059658, + 688.0985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 330.96333069461247, + 686.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 328.36525448325915, + 685.0985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 325.76717827190583, + 683.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 323.1691020605525, + 682.0985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 320.5710258491992, + 680.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 317.9729496378459, + 679.0985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 315.37487342649257, + 677.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 312.77679721513925, + 676.0985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.17872100378594, + 674.5985571012473, + -3.2907481245107455 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 310.17872100378594, + 674.5985571012473, + -3.2907481245107455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 308.67872100378594, + 672.0004808898939, + -3.2907481245107455 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-7-53_438792350/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-7-53_438792350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7458301a10617a4d52dad83c94099ae760a4518 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_21-7-53_438792350/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -970.0989434863085, + 137.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -970.0989434863085, + 140.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -970.0989434863085, + 143.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -970.0989434863085, + 146.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -970.0989434863085, + 149.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -970.0989434863085, + 152.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -970.0989434863085, + 155.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -970.0989434863085, + 158.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -970.0989434863085, + 161.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -970.0989434863085, + 164.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -970.0989434863085, + 167.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -970.0989434863085, + 170.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -970.0989434863085, + 173.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -970.0989434863085, + 176.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -970.0989434863085, + 179.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -970.0989434863085, + 182.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -970.0989434863085, + 185.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -970.0989434863085, + 188.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -970.0989434863085, + 191.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -970.0989434863085, + 194.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -970.0989434863085, + 197.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.0989434863085, + 200.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -970.0989434863085, + 203.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -970.0989434863085, + 206.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -970.0989434863085, + 209.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -970.0989434863085, + 212.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -970.0989434863085, + 215.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -970.0989434863085, + 218.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -970.0989434863085, + 221.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -970.0989434863085, + 224.29157133357808, + 2.6604101064294463 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -970.0989434863085, + 224.29157133357808, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -971.5989434863085, + 226.8896475449314, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -973.0989434863085, + 229.4877237562847, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -974.5989434863085, + 232.08579996763802, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -976.0989434863085, + 234.68387617899134, + 2.6604101064294463 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -977.5989434863085, + 237.28195239034466, + 2.6604101064294463 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-10-10_255789528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-10-10_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90f6abc872e7a6704f4aab089694bedae418805a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-10-10_255789528/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -1000.6024062663014, + 266.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -1000.6024062663014, + 269.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -1000.6024062663014, + 272.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -1000.6024062663014, + 275.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1000.6024062663014, + 278.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -1000.6024062663014, + 281.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -1000.6024062663014, + 284.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -1000.6024062663014, + 287.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.6024062663014, + 290.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -1000.6024062663014, + 293.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -1000.6024062663014, + 296.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1000.6024062663014, + 299.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1000.6024062663014, + 302.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -1000.6024062663014, + 305.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1000.6024062663014, + 308.29731211839754, + 3.5085591666669416 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1000.6024062663014, + 311.29731211839754, + 3.5085591666669416 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-11-16_1277849958/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-11-16_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8dcb5df55c79137dd76a153322a9571972c0f626 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-11-16_1277849958/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -885.9779660283156, + 264.9436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -888.5760422396688, + 263.4436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -891.1741184510222, + 261.9436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -893.7721946623756, + 260.4436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -896.3702708737289, + 258.9436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -898.9683470850823, + 257.4436829702507, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -901.5664232964357, + 255.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -904.1644995077891, + 254.44368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -906.7625757191424, + 252.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -909.3606519304958, + 251.44368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -911.9587281418492, + 249.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.5568043532026, + 248.44368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -917.1548805645559, + 246.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -919.7529567759093, + 245.44368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -922.3510329872627, + 243.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -924.949109198616, + 242.44368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -927.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -927.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -930.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -933.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -936.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -945.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -948.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -951.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -954.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -957.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -960.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -963.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -966.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -969.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -972.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -975.5471854099694, + 240.94368297025068, + 4.971592795033752 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-15-59_484238046/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-15-59_484238046/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a4ee710509499b651b9bc59a0a214f1ab423271 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-15-59_484238046/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -834.6788857425979, + 102.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -832.0808095312445, + 101.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -829.4827333198912, + 99.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -826.8846571085378, + 98.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -824.2865808971844, + 96.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -821.688504685831, + 95.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -819.0904284744777, + 93.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -816.4923522631243, + 92.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -813.8942760517709, + 90.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -811.2961998404176, + 89.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -808.6981236290642, + 87.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -806.1000474177108, + 86.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -803.5019712063574, + 84.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -800.9038949950041, + 83.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -798.3058187836507, + 81.83816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -795.7077425722973, + 80.33816741438442, + 3.4686929429735596 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -795.7077425722973, + 80.33816741438442, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -794.2077425722973, + 77.7400912030311, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -792.7077425722973, + 75.14201499167778, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -791.2077425722973, + 72.54393878032447, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.7077425722973, + 69.94586256897115, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.2077425722973, + 67.34778635761784, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -786.7077425722973, + 64.74971014626452, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -785.2077425722973, + 62.1516339349112, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.7077425722973, + 59.55355772355789, + 3.4686929429735596 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.7077425722973, + 59.55355772355789, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -781.109666360944, + 58.05355772355789, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.5115901495906, + 56.55355772355789, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -775.9135139382372, + 55.05355772355789, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -773.3154377268838, + 53.55355772355789, + 3.4686929429735596 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -770.7173615155305, + 52.05355772355789, + 3.4686929429735596 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-17-3_1886086990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-17-3_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df9133670618b36317c0c0ee2fabd88a7811e718 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-17-3_1886086990/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -962.6566955789708, + 250.614010071687, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -964.1566955789708, + 253.21208628304032, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -965.6566955789708, + 255.81016249439364, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.1566955789708, + 258.40823870574695, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -968.6566955789708, + 261.00631491710027, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -970.1566955789708, + 263.6043911284536, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -971.6566955789708, + 266.2024673398069, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -973.1566955789708, + 268.8005435511602, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -974.6566955789708, + 271.39861976251353, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -976.1566955789708, + 273.99669597386685, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -977.6566955789708, + 276.59477218522017, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -979.1566955789708, + 279.1928483965735, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.6566955789708, + 281.7909246079268, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -982.1566955789708, + 284.3890008192801, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.6566955789708, + 286.98707703063343, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -985.1566955789708, + 289.58515324198675, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -986.6566955789708, + 292.18322945334006, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -988.1566955789708, + 294.7813056646934, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -989.6566955789708, + 297.3793818760467, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -991.1566955789708, + 299.9774580874, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.6566955789708, + 302.5755342987533, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -994.1566955789708, + 305.17361051010664, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -995.6566955789708, + 307.77168672145996, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.1566955789708, + 310.3697629328133, + -1.7799991135965545 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -997.1566955789708, + 310.3697629328133, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -997.1566955789708, + 313.3697629328133, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -997.1566955789708, + 316.3697629328133, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -997.1566955789708, + 319.3697629328133, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -997.1566955789708, + 322.3697629328133, + -1.7799991135965545 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -997.1566955789708, + 325.3697629328133, + -1.7799991135965545 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-29-0_1380171692/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-29-0_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5ec7fa6762f0051d594875bb465567b426b6491 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-29-0_1380171692/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -333.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -336.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -339.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -342.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -345.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -348.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -351.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -354.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -357.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -360.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -363.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -366.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -369.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -372.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -375.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -378.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -381.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -384.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -387.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -390.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -390.8873336709544, + 46.198050521941695, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -392.3873336709544, + 43.59997431058838, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -393.8873336709544, + 41.00189809923506, + -3.6633690859613104 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -393.8873336709544, + 41.00189809923506, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -396.4854098823077, + 39.50189809923506, + -3.6633690859613104 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -399.083486093661, + 38.00189809923506, + -3.6633690859613104 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-33-9_12260289/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-33-9_12260289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dddc3eec5a7e42d4c5cd3f34c452db6b9e73fef0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-33-9_12260289/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -883.4690796789231, + -77.88626495737819, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -881.9690796789231, + -75.28818874602487, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -880.4690796789231, + -72.69011253467156, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -878.9690796789231, + -70.09203632331824, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -877.4690796789231, + -67.49396011196492, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -875.9690796789231, + -64.89588390061161, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -874.4690796789231, + -62.29780768925829, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -872.9690796789231, + -59.699731477904976, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -871.4690796789231, + -57.10165526655166, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -869.9690796789231, + -54.503579055198344, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -868.4690796789231, + -51.90550284384503, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -866.9690796789231, + -49.30742663249171, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -865.4690796789231, + -46.709350421138396, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -863.9690796789231, + -44.11127420978508, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -862.4690796789231, + -41.513197998431764, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -860.9690796789231, + -38.91512178707845, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -859.4690796789231, + -36.31704557572513, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -857.9690796789231, + -33.718969364371816, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -856.4690796789231, + -31.1208931530185, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -854.9690796789231, + -28.522816941665184, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -853.4690796789231, + -25.924740730311868, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -851.9690796789231, + -23.32666451895855, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -850.4690796789231, + -20.728588307605236, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -848.9690796789231, + -18.13051209625192, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -847.4690796789231, + -15.532435884898604, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -845.9690796789231, + -12.934359673545288, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -844.4690796789231, + -10.336283462191972, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -842.9690796789231, + -7.738207250838656, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -841.4690796789231, + -5.14013103948534, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -839.9690796789231, + -2.5420548281320237, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -838.4690796789231, + 0.056021383221292353, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -836.9690796789231, + 2.6540975945746084, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -835.4690796789231, + 5.252173805927924, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -833.9690796789231, + 7.85025001728124, + 4.4255976730544475 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -833.9690796789231, + 7.85025001728124, + 4.4255976730544475 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -833.9690796789231, + 7.85025001728124, + 4.4255976730544475 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -835.4690796789231, + 10.448326228634556, + 4.4255976730544475 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931957 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-17_1780172261/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-17_1780172261/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b04b26e8b2cd76f0954467ac144b935618b490d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-37-17_1780172261/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 430.21054051041983, + -14.226272286499682, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 432.80861672177315, + -12.726272286499682, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 435.40669293312646, + -11.226272286499682, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 438.0047691444798, + -9.726272286499682, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 440.6028453558331, + -8.226272286499682, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 443.2009215671864, + -6.7262722864996825, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 445.79899777853973, + -5.2262722864996825, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 448.39707398989304, + -3.7262722864996825, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 450.99515020124636, + -2.2262722864996825, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 453.5932264125997, + -0.7262722864996827, + 1.0515338192699257 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 453.5932264125997, + -0.7262722864996827, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 455.0932264125997, + 1.8718039248536333, + 1.0515338192699257 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 455.0932264125997, + 1.8718039248536333, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 457.691302623953, + 3.371803924853633, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 460.2893788353063, + 4.871803924853633, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 462.8874550466596, + 6.371803924853633, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 465.48553125801294, + 7.871803924853633, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 468.08360746936626, + 9.371803924853632, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 470.6816836807196, + 10.871803924853632, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 473.2797598920729, + 12.371803924853632, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 475.8778361034262, + 13.871803924853632, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 478.4759123147795, + 15.371803924853632, + 1.0515338192699257 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 481.07398852613284, + 16.87180392485363, + 1.0515338192699257 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-38-34_1866000081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-38-34_1866000081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eca98074ce8f9b229c0acfa674a90c079e65f78a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-38-34_1866000081/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -431.7848881961788, + -367.2715279435003, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -430.2848881961788, + -364.673451732147, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -428.7848881961788, + -362.07537552079367, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -427.2848881961788, + -359.47729930944035, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -425.7848881961788, + -356.87922309808704, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -424.2848881961788, + -354.2811468867337, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -422.7848881961788, + -351.6830706753804, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -421.2848881961788, + -349.0849944640271, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -419.7848881961788, + -346.4869182526738, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -418.2848881961788, + -343.88884204132046, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -416.7848881961788, + -341.29076582996714, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -415.2848881961788, + -338.6926896186138, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -413.7848881961788, + -336.0946134072605, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -412.2848881961788, + -333.4965371959072, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -410.7848881961788, + -330.8984609845539, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -409.2848881961788, + -328.30038477320056, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -407.7848881961788, + -325.70230856184725, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -406.2848881961788, + -323.10423235049393, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -404.7848881961788, + -320.5061561391406, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -403.2848881961788, + -317.9080799277873, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -401.7848881961788, + -315.310003716434, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -400.2848881961788, + -312.71192750508067, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -398.7848881961788, + -310.11385129372735, + 1.2256342810789462 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -398.7848881961788, + -310.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.1868119848255, + -308.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -393.5887357734722, + -307.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -390.9906595621189, + -305.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -388.39258335076556, + -304.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -385.79450713941225, + -302.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -383.19643092805893, + -301.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -380.5983547167056, + -299.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -378.0002785053523, + -298.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -375.402202293999, + -296.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -372.80412608264567, + -295.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -370.20604987129235, + -293.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -367.60797365993903, + -292.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -365.0098974485857, + -290.61385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -362.4118212372324, + -289.11385129372735, + 1.2256342810789462 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -359.8137450258791, + -287.61385129372735, + 1.2256342810789462 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-39-57_1989806367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-39-57_1989806367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3663a7886bb4543bfdf3805167b7ad6e105a5ed --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-39-57_1989806367/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 268.13973098958, + 739.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 265.5416547782267, + 740.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 262.9435785668734, + 742.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 260.34550235552007, + 743.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 257.74742614416675, + 745.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 255.14934993281344, + 746.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 252.55127372146012, + 748.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 249.9531975101068, + 749.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 247.3551212987535, + 751.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 244.75704508740017, + 752.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 242.15896887604686, + 754.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 239.56089266469354, + 755.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.96281645334022, + 757.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 234.3647402419869, + 758.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 231.7666640306336, + 760.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 229.16858781928028, + 761.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 226.57051160792696, + 763.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 223.97243539657364, + 764.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 221.37435918522033, + 766.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 218.776282973867, + 767.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 216.1782067625137, + 769.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 213.58013055116038, + 770.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 210.98205433980706, + 772.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 208.38397812845375, + 773.8636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 205.78590191710043, + 775.3636823137668, + -2.8385112524020557 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 203.18782570574712, + 776.8636823137668, + -2.8385112524020557 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-54_105575579/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-54_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9251c49fad8829b88961506652a30664ac078689 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-54_105575579/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -736.1111720018354, + 103.40668417978247, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -737.6111720018354, + 100.80860796842916, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.1111720018354, + 98.21053175707584, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.6111720018354, + 95.61245554572253, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.1111720018354, + 93.01437933436921, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -743.6111720018354, + 90.4163031230159, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.1111720018354, + 87.81822691166258, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.6111720018354, + 85.22015070030926, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -748.1111720018354, + 82.62207448895595, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -749.6111720018354, + 80.02399827760263, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -751.1111720018354, + 77.42592206624931, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -752.6111720018354, + 74.827845854896, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.1111720018354, + 72.22976964354268, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -755.6111720018354, + 69.63169343218937, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -757.1111720018354, + 67.03361722083605, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -758.6111720018354, + 64.43554100948273, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -760.1111720018354, + 61.83746479812942, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -761.6111720018354, + 59.2393885867761, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -763.1111720018354, + 56.641312375422785, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -764.6111720018354, + 54.04323616406947, + 2.607439699652156 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -766.1111720018354, + 51.44515995271615, + 2.607439699652156 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-8_246247255/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-8_246247255/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..678fc633cf38951dd02669aad4ea8f49a5af6057 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-4-8_246247255/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -163.0704014433085, + 22.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -163.0704014433085, + 19.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -163.0704014433085, + 16.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -163.0704014433085, + 13.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -163.0704014433085, + 10.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -163.0704014433085, + 7.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -163.0704014433085, + 4.31908036454432, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -163.0704014433085, + 1.3190803645443197, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -163.0704014433085, + -1.6809196354556803, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.0704014433085, + -4.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -163.0704014433085, + -7.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -163.0704014433085, + -10.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.0704014433085, + -13.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -163.0704014433085, + -16.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -163.0704014433085, + -19.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -163.0704014433085, + -22.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -163.0704014433085, + -25.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -163.0704014433085, + -28.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -163.0704014433085, + -31.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -163.0704014433085, + -34.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -163.0704014433085, + -37.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.0704014433085, + -40.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -163.0704014433085, + -43.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -163.0704014433085, + -46.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -163.0704014433085, + -49.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -163.0704014433085, + -52.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -163.0704014433085, + -55.68091963545568, + 2.8032987772236133 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -163.0704014433085, + -55.68091963545568, + 2.8032987772236133 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -163.0704014433085, + -55.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -160.47232523195518, + -57.18091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -157.87424902060187, + -58.68091963545568, + 2.8032987772236133 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -157.87424902060187, + -58.68091963545568, + 2.8032987772236133 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -157.87424902060187, + -58.68091963545568, + 2.8032987772236133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -157.87424902060187, + -61.68091963545568, + 2.8032987772236133 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-43-45_1265204346/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-43-45_1265204346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6aa033ae4e51269eeb911f5fe9995be6b7e8d2e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-43-45_1265204346/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 216.47493162352308, + -245.04499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 213.87685541216976, + -246.54499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 211.27877920081644, + -248.04499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 208.68070298946313, + -249.54499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 206.0826267781098, + -251.04499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 203.4845505667565, + -252.54499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 200.88647435540318, + -254.04499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 198.28839814404986, + -255.54499491223052, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 195.69032193269655, + -257.0449949122305, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 193.09224572134323, + -258.5449949122305, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 190.49416950998992, + -260.0449949122305, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 187.8960932986366, + -261.5449949122305, + 4.42094781750658 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 187.8960932986366, + -261.5449949122305, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 186.3960932986366, + -264.1430711235838, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 184.8960932986366, + -266.7411473349371, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 183.3960932986366, + -269.33922354629044, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 181.8960932986366, + -271.93729975764376, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 180.3960932986366, + -274.5353759689971, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 178.8960932986366, + -277.1334521803504, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 177.3960932986366, + -279.7315283917037, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 175.8960932986366, + -282.329604603057, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 174.3960932986366, + -284.92768081441034, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 172.8960932986366, + -287.52575702576365, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 171.3960932986366, + -290.12383323711697, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 169.8960932986366, + -292.7219094484703, + 4.42094781750658 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 169.8960932986366, + -292.7219094484703, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 167.29801708728328, + -294.2219094484703, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 164.69994087592997, + -295.7219094484703, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 162.10186466457665, + -297.2219094484703, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 159.50378845322334, + -298.7219094484703, + 4.42094781750658 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 156.90571224187002, + -300.2219094484703, + 4.42094781750658 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-19_1857756970/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-19_1857756970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..10a1dc81cee90bba83acd6690d9e19c1d4bf5bc2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-46-19_1857756970/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -494.55797418189593, + -400.54697155740365, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -496.05797418189593, + -397.94889534605034, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -497.55797418189593, + -395.350819134697, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -499.05797418189593, + -392.7527429233437, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -500.55797418189593, + -390.1546667119904, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -502.05797418189593, + -387.55659050063707, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -503.55797418189593, + -384.95851428928376, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -505.05797418189593, + -382.36043807793044, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -506.55797418189593, + -379.7623618665771, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -508.05797418189593, + -377.1642856552238, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -509.55797418189593, + -374.5662094438705, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -511.05797418189593, + -371.9681332325172, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -512.5579741818959, + -369.37005702116386, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -514.0579741818959, + -366.77198080981054, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -515.5579741818959, + -364.1739045984572, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -517.0579741818959, + -361.5758283871039, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -518.5579741818959, + -358.9777521757506, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -520.0579741818959, + -356.3796759643973, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -521.5579741818959, + -353.78159975304396, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -523.0579741818959, + -351.18352354169065, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -524.5579741818959, + -348.58544733033733, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -526.0579741818959, + -345.987371118984, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -527.5579741818959, + -343.3892949076307, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -529.0579741818959, + -340.7912186962774, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -530.5579741818959, + -338.19314248492407, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -532.0579741818959, + -335.59506627357075, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -533.5579741818959, + -332.99699006221744, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -535.0579741818959, + -330.3989138508641, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -536.5579741818959, + -327.8008376395108, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -538.0579741818959, + -325.2027614281575, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -539.5579741818959, + -322.60468521680417, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -541.0579741818959, + -320.00660900545085, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -542.5579741818959, + -317.40853279409754, + 3.805895472627693 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -544.0579741818959, + -314.8104565827442, + 3.805895472627693 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-19_1156541312/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-19_1156541312/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..587adf663099ffc1f8130bf0984acbab64f33a92 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-19_1156541312/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -259.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -256.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -253.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -250.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -247.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -244.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -241.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -238.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -235.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -235.8930568166474, + -500.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -233.29498060529409, + -499.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -230.69690439394077, + -497.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -228.09882818258745, + -496.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -225.50075197123414, + -494.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -222.90267575988082, + -493.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -220.3045995485275, + -491.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -217.7065233371742, + -490.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -215.10844712582087, + -488.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -212.51037091446756, + -487.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -209.91229470311424, + -485.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -207.31421849176093, + -484.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -204.7161422804076, + -482.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -202.1180660690543, + -481.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -199.51998985770098, + -479.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -196.92191364634766, + -478.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.32383743499435, + -476.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -191.72576122364103, + -475.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -189.1276850122877, + -473.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -186.5296088009344, + -472.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -183.93153258958108, + -470.89656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -181.33345637822777, + -469.39656229431864, + 2.0223457700894993 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -178.73538016687445, + -467.89656229431864, + 2.0223457700894993 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-50_1243439214/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-50_1243439214/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cd60c857e8a9063b1ec7915cbcd65741e2b27fc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-48-50_1243439214/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -682.3891803943097, + -73.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -682.3891803943097, + -76.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.3891803943097, + -79.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -682.3891803943097, + -82.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -682.3891803943097, + -85.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -682.3891803943097, + -88.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -682.3891803943097, + -91.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -682.3891803943097, + -94.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -682.3891803943097, + -97.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.3891803943097, + -100.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -682.3891803943097, + -103.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.3891803943097, + -106.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.3891803943097, + -109.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.3891803943097, + -112.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.3891803943097, + -115.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -682.3891803943097, + -118.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -682.3891803943097, + -121.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.3891803943097, + -124.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -682.3891803943097, + -127.08115072819884, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.3891803943097, + -130.08115072819885, + -0.19986328535684095 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.3891803943097, + -130.08115072819885, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -680.8891803943097, + -132.67922693955217, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.3891803943097, + -135.27730315090548, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.8891803943097, + -137.8753793622588, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.3891803943097, + -140.4734555736121, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -674.8891803943097, + -143.07153178496543, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.3891803943097, + -145.66960799631875, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.8891803943097, + -148.26768420767206, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.3891803943097, + -150.86576041902538, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -668.8891803943097, + -153.4638366303787, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -667.3891803943097, + -156.061912841732, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -665.8891803943097, + -158.65998905308533, + -0.19986328535684095 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -664.3891803943097, + -161.25806526443864, + -0.19986328535684095 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-36_1112720090/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-36_1112720090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e873719528b085fb2ad75f811d2fde0fc325ea28 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-36_1112720090/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -841.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -838.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -835.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -832.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -829.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -826.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -823.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -820.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -817.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -814.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -811.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -808.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -805.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -802.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -799.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -796.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -793.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -790.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -787.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -784.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -781.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -778.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.4764522997198, + 38.463333913007716, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -776.9764522997198, + 41.06141012436103, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -775.4764522997198, + 43.65948633571435, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -773.9764522997198, + 46.257562547067664, + -1.0164516943984232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -772.4764522997198, + 48.85563875842098, + -1.0164516943984232 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-52_1788014412/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-52_1788014412/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdba785f591f3a3f54b1d9b5cf3489ee536ec26c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-49-52_1788014412/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -941.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -944.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -947.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -950.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -953.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -956.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -959.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -962.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -965.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -968.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -971.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -974.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -977.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -980.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -980.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -980.0423043154512, + 344.54664391203977, + 4.89590234020471 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -981.5423043154512, + 341.94856770068645, + 4.89590234020471 + ], + "type": "stop", + "value": 0, + "yaw": 4.1887902047863905 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-50_452867621/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-50_452867621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ae2b95d8ba9e334c43ac5bbeb085b1f70bd88b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-50_452867621/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -925.601367245858, + 197.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -928.1994434572114, + 198.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -930.7975196685647, + 200.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -933.3955958799181, + 201.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -935.9936720912715, + 203.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -938.5917483026249, + 204.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -941.1898245139782, + 206.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -943.7879007253316, + 207.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -946.385976936685, + 209.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -948.9840531480384, + 210.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -951.5821293593917, + 212.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.1802055707451, + 213.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -956.7782817820985, + 215.1336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -959.3763579934518, + 216.6336066242731, + -0.09122050614668442 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.3763579934518, + 216.6336066242731, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -960.8763579934518, + 219.23168283562643, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -962.3763579934518, + 221.82975904697975, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -963.8763579934518, + 224.42783525833306, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -965.3763579934518, + 227.02591146968638, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -966.8763579934518, + 229.6239876810397, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -968.3763579934518, + 232.222063892393, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -969.8763579934518, + 234.82014010374633, + -0.09122050614668442 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -969.8763579934518, + 234.82014010374633, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -972.4744342048052, + 236.32014010374633, + -0.09122050614668442 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -975.0725104161586, + 237.82014010374633, + -0.09122050614668442 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-6_964445884/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-6_964445884/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d33b6e2cea74551aaf4e95b0cdb6dfed95129653 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_22-5-6_964445884/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -933.332686831608, + 244.77619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.9307630429614, + 246.27619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -938.5288392543148, + 247.77619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.1269154656682, + 249.27619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -943.7249916770215, + 250.77619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.3230678883749, + 252.27619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -948.9211440997283, + 253.77619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -951.5192203110817, + 255.27619173531377, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -954.117296522435, + 256.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -956.7153727337884, + 258.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -959.3134489451418, + 259.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.9115251564951, + 261.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -964.5096013678485, + 262.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.1076775792019, + 264.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -969.7057537905553, + 265.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -972.3038300019086, + 267.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -974.901906213262, + 268.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.4999824246154, + 270.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -980.0980586359688, + 271.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.6961348473221, + 273.2761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -985.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -985.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -988.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -991.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -994.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -997.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.2942110586755, + 274.7761917353138, + 0.2685778591558279 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-10-48_738393740/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-10-48_738393740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..090d668bab0045584f1dcdad30e38dccf44858c1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-10-48_738393740/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -319.3176283688672, + 640.5732986812111, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -320.8176283688672, + 643.1713748925645, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -322.3176283688672, + 645.7694511039178, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -323.8176283688672, + 648.3675273152712, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -325.3176283688672, + 650.9656035266246, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -326.8176283688672, + 653.563679737978, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -328.3176283688672, + 656.1617559493313, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -329.8176283688672, + 658.7598321606847, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -331.3176283688672, + 661.3579083720381, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -332.8176283688672, + 663.9559845833915, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -334.3176283688672, + 666.5540607947448, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -335.8176283688672, + 669.1521370060982, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -337.3176283688672, + 671.7502132174516, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -338.8176283688672, + 674.348289428805, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -340.3176283688672, + 676.9463656401583, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -341.8176283688672, + 679.5444418515117, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -343.3176283688672, + 682.1425180628651, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -344.8176283688672, + 684.7405942742184, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -346.3176283688672, + 687.3386704855718, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -347.8176283688672, + 689.9367466969252, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -349.3176283688672, + 692.5348229082786, + -3.3675256892789203 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -349.3176283688672, + 692.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -349.3176283688672, + 695.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -349.3176283688672, + 698.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.3176283688672, + 701.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -349.3176283688672, + 704.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -349.3176283688672, + 707.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -349.3176283688672, + 710.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -349.3176283688672, + 713.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -349.3176283688672, + 716.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -349.3176283688672, + 719.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -349.3176283688672, + 722.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -349.3176283688672, + 725.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -349.3176283688672, + 728.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -349.3176283688672, + 731.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -349.3176283688672, + 734.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -349.3176283688672, + 737.5348229082786, + -3.3675256892789203 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -349.3176283688672, + 740.5348229082786, + -3.3675256892789203 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-59_962033002/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-59_962033002/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cda3d794e17c761266a28df6f04b6f254ae70c1c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-59_962033002/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 232.04219335206614, + 781.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 232.04219335206614, + 778.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 232.04219335206614, + 775.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 232.04219335206614, + 772.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 232.04219335206614, + 769.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 232.04219335206614, + 766.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 232.04219335206614, + 763.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 232.04219335206614, + 760.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 232.04219335206614, + 757.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 232.04219335206614, + 754.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 232.04219335206614, + 751.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 232.04219335206614, + 748.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 232.04219335206614, + 745.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 232.04219335206614, + 742.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 232.04219335206614, + 739.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 232.04219335206614, + 736.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 232.04219335206614, + 733.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 232.04219335206614, + 730.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 232.04219335206614, + 727.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 232.04219335206614, + 724.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 232.04219335206614, + 721.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 232.04219335206614, + 718.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 232.04219335206614, + 715.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 232.04219335206614, + 712.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 232.04219335206614, + 709.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 232.04219335206614, + 706.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 232.04219335206614, + 703.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 232.04219335206614, + 700.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 232.04219335206614, + 697.3452178333575, + 1.9057074250410624 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 232.04219335206614, + 694.3452178333575, + 1.9057074250410624 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-7_1905241081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-7_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e63af84b675faa5912f306d307d8100869a717e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-12-7_1905241081/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -739.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -742.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -748.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -754.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -757.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -760.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -766.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -775.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -778.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -781.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -784.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -787.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.1649763658186, + -12.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -789.763052577172, + -11.328509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -792.3611287885253, + -9.828509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -794.9592049998787, + -8.328509048993507, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -797.5572812112321, + -6.8285090489935065, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -800.1553574225854, + -5.3285090489935065, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -802.7534336339388, + -3.8285090489935065, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -805.3515098452922, + -2.3285090489935065, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -807.9495860566456, + -0.8285090489935067, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -810.5476622679989, + 0.671490951006493, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -813.1457384793523, + 2.1714909510064926, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -815.7438146907057, + 3.6714909510064926, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -818.341890902059, + 5.171490951006493, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -820.9399671134124, + 6.671490951006493, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -823.5380433247658, + 8.171490951006492, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -826.1361195361192, + 9.671490951006492, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -828.7341957474725, + 11.171490951006492, + -1.483206143898283 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -831.3322719588259, + 12.671490951006492, + -1.483206143898283 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-17-46_1543324176/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-17-46_1543324176/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5d674b1c6ca6af548d4a2e0ccefee88c96e275f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-17-46_1543324176/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.0219474064671, + 76.68271882273515, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -803.5219474064671, + 74.08464261138184, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -805.0219474064671, + 71.48656640002852, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -806.5219474064671, + 68.8884901886752, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.0219474064671, + 66.29041397732189, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -809.5219474064671, + 63.692337765968574, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -811.0219474064671, + 61.09426155461526, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -812.5219474064671, + 58.49618534326194, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -814.0219474064671, + 55.898109131908626, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -815.5219474064671, + 53.30003292055531, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -817.0219474064671, + 50.701956709201994, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -818.5219474064671, + 48.10388049784868, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -820.0219474064671, + 45.50580428649536, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -821.5219474064671, + 42.907728075142046, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -823.0219474064671, + 40.30965186378873, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -824.5219474064671, + 37.711575652435414, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -826.0219474064671, + 35.1134994410821, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -827.5219474064671, + 32.51542322972878, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -829.0219474064671, + 29.917347018375466, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -830.5219474064671, + 27.31927080702215, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -832.0219474064671, + 24.721194595668834, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -833.5219474064671, + 22.123118384315518, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -835.0219474064671, + 19.525042172962202, + -4.3603800612984305 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -835.0219474064671, + 19.525042172962202, + -4.3603800612984305 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -835.0219474064671, + 16.525042172962202, + -4.3603800612984305 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-15_1344593499/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-15_1344593499/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a5b563ad1cc97ce3c182965ef037dc46b7d52e9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-15_1344593499/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.3141755418173, + -396.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -170.3141755418173, + -399.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.3141755418173, + -402.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -170.3141755418173, + -405.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.3141755418173, + -408.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -170.3141755418173, + -411.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.3141755418173, + -414.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.3141755418173, + -417.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.3141755418173, + -420.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.3141755418173, + -423.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.3141755418173, + -426.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -170.3141755418173, + -429.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.3141755418173, + -432.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -170.3141755418173, + -435.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -170.3141755418173, + -438.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -170.3141755418173, + -441.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -170.3141755418173, + -444.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.3141755418173, + -447.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.3141755418173, + -450.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.3141755418173, + -453.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -170.3141755418173, + -456.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -170.3141755418173, + -459.57844262897993, + 2.2997399399064005 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -170.3141755418173, + -459.57844262897993, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -171.8141755418173, + -462.17651884033324, + 2.2997399399064005 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -173.3141755418173, + -464.77459505168656, + 2.2997399399064005 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-29_378469911/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-29_378469911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6bf338db14139000912a749f0e8eca486aaa2a46 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-29_378469911/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -603.5005038519678, + 133.1717842839425, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -605.0005038519678, + 130.57370807258917, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -606.5005038519678, + 127.97563186123585, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -608.0005038519678, + 125.37755564988254, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.5005038519678, + 122.77947943852922, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -611.0005038519678, + 120.1814032271759, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -612.5005038519678, + 117.58332701582259, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -614.0005038519678, + 114.98525080446927, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -615.5005038519678, + 112.38717459311596, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -617.0005038519678, + 109.78909838176264, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -618.5005038519678, + 107.19102217040933, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -620.0005038519678, + 104.59294595905601, + -1.1849942268941267 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -620.0005038519678, + 104.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -622.5985800633212, + 103.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -625.1966562746745, + 101.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.7947324860279, + 100.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.3928086973813, + 98.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -632.9908849087346, + 97.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -635.588961120088, + 95.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -638.1870373314414, + 94.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -640.7851135427948, + 92.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -643.3831897541481, + 91.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -645.9812659655015, + 89.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.5793421768549, + 88.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.1774183882083, + 86.59294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -653.7754945995616, + 85.09294595905601, + -1.1849942268941267 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.373570810915, + 83.59294595905601, + -1.1849942268941267 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-58_488663950/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-58_488663950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec304b6d44cafdc328abea7ac63ff786e4b2c4fb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-19-58_488663950/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -781.2632436257807, + 279.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -781.2632436257807, + 276.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -781.2632436257807, + 273.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -781.2632436257807, + 270.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -781.2632436257807, + 267.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -781.2632436257807, + 264.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -781.2632436257807, + 261.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -781.2632436257807, + 258.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -781.2632436257807, + 255.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -781.2632436257807, + 252.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -781.2632436257807, + 249.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -781.2632436257807, + 246.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -781.2632436257807, + 243.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -781.2632436257807, + 240.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -781.2632436257807, + 237.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -781.2632436257807, + 234.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -781.2632436257807, + 231.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.2632436257807, + 228.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -781.2632436257807, + 225.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -781.2632436257807, + 222.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -781.2632436257807, + 219.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -781.2632436257807, + 216.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -781.2632436257807, + 213.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.2632436257807, + 210.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -781.2632436257807, + 207.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -781.2632436257807, + 204.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -781.2632436257807, + 201.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -781.2632436257807, + 198.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -781.2632436257807, + 195.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -781.2632436257807, + 192.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -781.2632436257807, + 189.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -781.2632436257807, + 186.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -781.2632436257807, + 183.18496141920116, + 0.3677873974572696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -781.2632436257807, + 180.18496141920116, + 0.3677873974572696 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-26-34_76593093/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-26-34_76593093/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3193e033e64964494a671ad7e4a97fd45de5beb0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-26-34_76593093/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -809.4320894197602, + 100.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -809.4320894197602, + 97.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -809.4320894197602, + 94.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.4320894197602, + 91.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -809.4320894197602, + 88.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -809.4320894197602, + 85.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -809.4320894197602, + 82.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -809.4320894197602, + 79.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -809.4320894197602, + 76.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -809.4320894197602, + 73.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -809.4320894197602, + 70.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -809.4320894197602, + 67.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -809.4320894197602, + 64.72728600748611, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -809.4320894197602, + 61.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -809.4320894197602, + 58.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -809.4320894197602, + 55.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -809.4320894197602, + 52.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -809.4320894197602, + 49.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -809.4320894197602, + 46.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -809.4320894197602, + 43.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -809.4320894197602, + 40.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -809.4320894197602, + 37.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -809.4320894197602, + 34.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -809.4320894197602, + 31.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -809.4320894197602, + 28.727286007486114, + 2.704237843387631 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -809.4320894197602, + 28.727286007486114, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -810.9320894197602, + 26.1292097961328, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -812.4320894197602, + 23.531133584779482, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -813.9320894197602, + 20.933057373426166, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -815.4320894197602, + 18.33498116207285, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -816.9320894197602, + 15.736904950719534, + 2.704237843387631 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -818.4320894197602, + 13.138828739366218, + 2.704237843387631 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-23_1421186593/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-23_1421186593/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78a8d4a22fc421c8710617d754d5076a7b4dfdba --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-23_1421186593/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -730.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -733.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -736.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -751.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -754.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -769.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -772.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -775.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -778.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -787.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -790.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -793.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -796.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -799.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -799.5910810560769, + 27.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -802.1891572674301, + 26.455079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -804.7872334787835, + 24.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -807.3853096901369, + 23.455079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -809.9833859014902, + 21.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -812.5814621128436, + 20.455079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -815.179538324197, + 18.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -817.7776145355504, + 17.455079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -820.3756907469037, + 15.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -822.9737669582571, + 14.455079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -825.5718431696105, + 12.955079427316893, + -4.978681808101238 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -825.5718431696105, + 12.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -828.5718431696105, + 12.955079427316893, + -4.978681808101238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -831.5718431696105, + 12.955079427316893, + -4.978681808101238 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-41_1502781486/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-41_1502781486/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56ff5098fed7a01a97359e51b62bc419b585429b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-27-41_1502781486/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 126.05326112841229, + -234.35294978521065, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 127.55326112841229, + -236.95102599656397, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 129.0532611284123, + -239.5491022079173, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 130.5532611284123, + -242.1471784192706, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 132.0532611284123, + -244.74525463062392, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 133.5532611284123, + -247.34333084197723, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 135.0532611284123, + -249.94140705333055, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 136.5532611284123, + -252.53948326468387, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 138.0532611284123, + -255.13755947603718, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 139.5532611284123, + -257.7356356873905, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966025 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 141.0532611284123, + -260.33371189874384, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 142.5532611284123, + -262.93178811009716, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 144.0532611284123, + -265.5298643214505, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.5532611284123, + -268.1279405328038, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 147.0532611284123, + -270.7260167441571, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 148.5532611284123, + -273.3240929555104, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 150.0532611284123, + -275.92216916686374, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 151.5532611284123, + -278.52024537821706, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 153.0532611284123, + -281.11832158957037, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 154.5532611284123, + -283.7163978009237, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 156.0532611284123, + -286.314474012277, + -0.9883827844143891 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 156.0532611284123, + -286.314474012277, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 156.0532611284123, + -289.314474012277, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 156.0532611284123, + -292.314474012277, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 156.0532611284123, + -295.314474012277, + -0.9883827844143891 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 156.0532611284123, + -298.314474012277, + -0.9883827844143891 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-28-57_107734713/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-28-57_107734713/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..363dba6e36d000925541a77476069bfb3d86b6c5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-28-57_107734713/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -902.5695473158979, + 308.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -905.1676235272512, + 307.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -907.7656997386046, + 305.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -910.3637759499579, + 304.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -912.9618521613113, + 302.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -915.5599283726647, + 301.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -918.158004584018, + 299.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -920.7560807953714, + 298.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.3541570067248, + 296.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -925.9522332180782, + 295.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -928.5503094294315, + 293.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -931.1483856407849, + 292.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -933.7464618521383, + 290.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -936.3445380634917, + 289.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -938.942614274845, + 287.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -941.5406904861984, + 286.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -944.1387666975518, + 284.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -946.7368429089051, + 283.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -949.3349191202585, + 281.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -951.9329953316119, + 280.4562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -954.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -954.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -957.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -960.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -963.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -966.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -969.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -972.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -975.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -978.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -981.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -984.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -987.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -990.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -993.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -996.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -999.5310715429653, + 278.9562423082712, + -2.9882498347766457 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-15_1646478179/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-15_1646478179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ea15f22605ccaab1ad29481e1a43b361a1fc6f8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-15_1646478179/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -222.72669399042732, + 729.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -222.72669399042732, + 726.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -222.72669399042732, + 723.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -222.72669399042732, + 720.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -222.72669399042732, + 717.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -222.72669399042732, + 714.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.72669399042732, + 711.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -222.72669399042732, + 708.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -222.72669399042732, + 705.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -222.72669399042732, + 702.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -222.72669399042732, + 699.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -222.72669399042732, + 696.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -222.72669399042732, + 693.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -222.72669399042732, + 690.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -222.72669399042732, + 687.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -222.72669399042732, + 684.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -222.72669399042732, + 681.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -222.72669399042732, + 678.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -222.72669399042732, + 675.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -222.72669399042732, + 672.7337298561606, + 0.12180234875079243 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -222.72669399042732, + 672.7337298561606, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -224.22669399042732, + 670.1356536448072, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -225.72669399042732, + 667.5375774334539, + 0.12180234875079243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -227.22669399042732, + 664.9395012221005, + 0.12180234875079243 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-59_1464415775/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-59_1464415775/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d6912596332022eb9dc75bd65e0766de31a25a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-29-59_1464415775/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -453.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -450.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -447.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -444.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -441.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -438.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -435.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -432.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -429.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -429.6849745966726, + -324.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -427.0868983853193, + -323.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -424.48882217396596, + -321.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -421.89074596261264, + -320.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -419.2926697512593, + -318.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -416.694593539906, + -317.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -414.0965173285527, + -315.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -411.4984411171994, + -314.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -408.90036490584606, + -312.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -406.30228869449274, + -311.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -403.70421248313943, + -309.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -401.1061362717861, + -308.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -398.5080600604328, + -306.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -395.9099838490795, + -305.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -393.31190763772616, + -303.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -390.71383142637285, + -302.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -388.11575521501953, + -300.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -385.5176790036662, + -299.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -382.9196027923129, + -297.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -380.3215265809596, + -296.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -377.72345036960627, + -294.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -375.12537415825295, + -293.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -372.52729794689964, + -291.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -369.9292217355463, + -290.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -367.331145524193, + -288.92197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -364.7330693128397, + -287.42197865113104, + -2.94607209097356 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -364.7330693128397, + -287.42197865113104, + -2.94607209097356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -361.7330693128397, + -287.42197865113104, + -2.94607209097356 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-34-35_120306710/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-34-35_120306710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85023053c2a6e065ae5af7d1940672f9c8d66b56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-34-35_120306710/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -383.84862654126476, + -175.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -383.84862654126476, + -178.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -383.84862654126476, + -181.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -383.84862654126476, + -184.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -383.84862654126476, + -187.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -383.84862654126476, + -190.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -383.84862654126476, + -193.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -383.84862654126476, + -196.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -383.84862654126476, + -199.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -383.84862654126476, + -202.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -383.84862654126476, + -205.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -383.84862654126476, + -208.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -383.84862654126476, + -211.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -383.84862654126476, + -214.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -383.84862654126476, + -217.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -383.84862654126476, + -220.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -383.84862654126476, + -223.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -383.84862654126476, + -226.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -383.84862654126476, + -229.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -383.84862654126476, + -232.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -383.84862654126476, + -235.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -383.84862654126476, + -238.69897913341327, + 2.042968855554628 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -383.84862654126476, + -238.69897913341327, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -382.34862654126476, + -241.2970553447666, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -380.84862654126476, + -243.8951315561199, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -379.34862654126476, + -246.49320776747322, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -377.84862654126476, + -249.09128397882654, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -376.34862654126476, + -251.68936019017985, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -374.84862654126476, + -254.28743640153317, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -373.34862654126476, + -256.8855126128865, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -371.84862654126476, + -259.4835888242398, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -370.34862654126476, + -262.0816650355931, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -368.84862654126476, + -264.67974124694643, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -367.34862654126476, + -267.27781745829975, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -365.84862654126476, + -269.87589366965307, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -364.34862654126476, + -272.4739698810064, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -362.84862654126476, + -275.0720460923597, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -361.34862654126476, + -277.670122303713, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -359.84862654126476, + -280.26819851506633, + 2.042968855554628 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -358.34862654126476, + -282.86627472641965, + 2.042968855554628 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-42_2059344234/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-42_2059344234/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa673462b4fb579164e3dc09284fb1a392cfeb1d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-47-42_2059344234/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -238.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -247.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -250.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -253.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -256.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -259.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -262.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -265.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -268.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -271.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -274.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -277.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -280.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -283.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -286.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -289.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -292.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -295.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -298.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -301.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -304.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -307.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -310.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -313.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -316.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -319.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -322.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -325.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -325.44518745892816, + -365.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -328.0432636702815, + -366.6057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -330.6413398816348, + -368.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -333.2394160929881, + -369.6057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -335.8374923043414, + -371.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -338.43556851569474, + -372.6057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -341.03364472704806, + -374.1057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -343.6317209384014, + -375.6057216210087, + 4.079972220304011 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -346.2297971497547, + -377.1057216210087, + 4.079972220304011 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-51-40_1038626924/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-51-40_1038626924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..816670b9dda1df9684d2dc0576333eb412080fda --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-51-40_1038626924/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -942.7420748612298, + 211.13236094327544, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -944.2420748612298, + 213.73043715462876, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -945.7420748612298, + 216.32851336598208, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -947.2420748612298, + 218.9265895773354, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -948.7420748612298, + 221.5246657886887, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -950.2420748612298, + 224.12274200004202, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -951.7420748612298, + 226.72081821139534, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -953.2420748612298, + 229.31889442274866, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -954.7420748612298, + 231.91697063410197, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -956.2420748612298, + 234.5150468454553, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -957.7420748612298, + 237.1131230568086, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -959.2420748612298, + 239.71119926816192, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -960.7420748612298, + 242.30927547951524, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.2420748612298, + 244.90735169086855, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -963.7420748612298, + 247.50542790222187, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -965.2420748612298, + 250.10350411357518, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -966.7420748612298, + 252.7015803249285, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -968.2420748612298, + 255.29965653628182, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -969.7420748612298, + 257.89773274763513, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -971.2420748612298, + 260.49580895898845, + -0.09836993563310514 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -971.2420748612298, + 260.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -973.840151072583, + 261.99580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -976.4382272839364, + 263.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -979.0363034952898, + 264.99580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -981.6343797066431, + 266.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -984.2324559179965, + 267.99580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -986.8305321293499, + 269.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -989.4286083407032, + 270.99580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -992.0266845520566, + 272.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -994.62476076341, + 273.99580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -997.2228369747634, + 275.49580895898845, + -0.09836993563310514 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -999.8209131861167, + 276.99580895898845, + -0.09836993563310514 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-56_1581539848/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-56_1581539848/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6610ecd7e1eb67d8d01104daa609a180c56bb93 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-55-56_1581539848/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -697.6525465205552, + 133.83562676143416, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.1525465205552, + 131.23755055008084, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -700.6525465205552, + 128.63947433872752, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -702.1525465205552, + 126.04139812737421, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -703.6525465205552, + 123.44332191602089, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -705.1525465205552, + 120.84524570466758, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -706.6525465205552, + 118.24716949331426, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.1525465205552, + 115.64909328196094, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -709.6525465205552, + 113.05101707060763, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -711.1525465205552, + 110.45294085925431, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -712.6525465205552, + 107.854864647901, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -714.1525465205552, + 105.25678843654768, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -715.6525465205552, + 102.65871222519436, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -717.1525465205552, + 100.06063601384105, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -718.6525465205552, + 97.46255980248773, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -720.1525465205552, + 94.86448359113442, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -721.6525465205552, + 92.2664073797811, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -723.1525465205552, + 89.66833116842778, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.6525465205552, + 87.07025495707447, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -726.1525465205552, + 84.47217874572115, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.6525465205552, + 81.87410253436784, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.1525465205552, + 79.27602632301452, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -730.6525465205552, + 76.6779501116612, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -732.1525465205552, + 74.07987390030789, + -3.156029395816237 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.1525465205552, + 74.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -734.7506227319086, + 72.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -737.348698943262, + 71.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -739.9467751546154, + 69.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -742.5448513659687, + 68.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.1429275773221, + 66.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -747.7410037886755, + 65.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -750.3390800000288, + 63.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -752.9371562113822, + 62.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -755.5352324227356, + 60.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -758.133308634089, + 59.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -760.7313848454423, + 57.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -763.3294610567957, + 56.07987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -765.9275372681491, + 54.57987390030789, + -3.156029395816237 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -768.5256134795025, + 53.07987390030789, + -3.156029395816237 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-8-52_1452888574/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-8-52_1452888574/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..229438f315330c62ff2365c7707fefdd178aa53c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-2_23-8-52_1452888574/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -270.16308898561164, + -37.67959724036098, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -271.66308898561164, + -40.27767345171429, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -273.16308898561164, + -42.87574966306761, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -274.66308898561164, + -45.473825874420925, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -276.16308898561164, + -48.07190208577424, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -277.66308898561164, + -50.66997829712756, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -279.16308898561164, + -53.26805450848087, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -280.66308898561164, + -55.86613071983419, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -282.16308898561164, + -58.464206931187505, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -283.66308898561164, + -61.06228314254082, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -285.16308898561164, + -63.66035935389414, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -286.66308898561164, + -66.25843556524745, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -288.16308898561164, + -68.85651177660077, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -289.66308898561164, + -71.45458798795408, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -291.16308898561164, + -74.0526641993074, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.66308898561164, + -76.65074041066072, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -294.16308898561164, + -79.24881662201403, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -295.66308898561164, + -81.84689283336735, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -297.16308898561164, + -84.44496904472066, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -298.66308898561164, + -87.04304525607398, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -300.16308898561164, + -89.6411214674273, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -301.66308898561164, + -92.23919767878061, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -303.16308898561164, + -94.83727389013393, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -304.66308898561164, + -97.43535010148724, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -306.16308898561164, + -100.03342631284056, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -307.66308898561164, + -102.63150252419388, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -309.16308898561164, + -105.2295787355472, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -310.66308898561164, + -107.82765494690051, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -312.16308898561164, + -110.42573115825383, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -313.66308898561164, + -113.02380736960714, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -315.16308898561164, + -115.62188358096046, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -316.66308898561164, + -118.21995979231377, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -318.16308898561164, + -120.81803600366709, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -319.66308898561164, + -123.4161122150204, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -321.16308898561164, + -126.01418842637372, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -322.66308898561164, + -128.61226463772704, + -1.1678940620481848 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -324.16308898561164, + -131.21034084908035, + -1.1678940620481848 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-4_1280311131/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-4_1280311131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ed5fdf661bdec7649079485df9692fff6d29c0c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-14-4_1280311131/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -270.7002697554055, + -323.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -273.2983459667588, + -324.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -275.8964221781121, + -326.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -278.49449838946543, + -327.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -281.09257460081875, + -329.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.69065081217207, + -330.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -286.2887270235254, + -332.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -288.8868032348787, + -333.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -291.484879446232, + -335.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.08295565758533, + -336.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.68103186893865, + -338.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -299.27910808029196, + -339.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -301.8771842916453, + -341.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -304.4752605029986, + -342.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -307.0733367143519, + -344.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -309.6714129257052, + -345.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -312.26948913705854, + -347.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.86756534841186, + -348.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -317.4656415597652, + -350.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -320.0637177711185, + -351.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -322.6617939824718, + -353.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -325.2598701938251, + -354.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -327.85794640517844, + -356.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -330.45602261653175, + -357.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.05409882788507, + -359.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -335.6521750392384, + -360.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -338.2502512505917, + -362.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -340.848327461945, + -363.7463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -343.44640367329833, + -365.2463531830215, + 4.127414132202322 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -343.44640367329833, + -365.2463531830215, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -344.94640367329833, + -367.8444293943748, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -346.44640367329833, + -370.4425056057281, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -347.94640367329833, + -373.04058181708143, + 4.127414132202322 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -349.44640367329833, + -375.63865802843475, + 4.127414132202322 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-54_1108399134/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-54_1108399134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3c1081b109fe0129240694ec05ffcf2fdbdccd5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-19-54_1108399134/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -719.0766501815698, + 25.12375615021847, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -717.5766501815698, + 27.721832361571785, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -716.0766501815698, + 30.3199085729251, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -714.5766501815698, + 32.91798478427842, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -713.0766501815698, + 35.51606099563173, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -711.5766501815698, + 38.11413720698505, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -710.0766501815698, + 40.712213418338365, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.5766501815698, + 43.31028962969168, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -707.0766501815698, + 45.908365841045, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -705.5766501815698, + 48.50644205239831, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -704.0766501815698, + 51.10451826375163, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.5766501815698, + 53.702594475104945, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -701.0766501815698, + 56.30067068645826, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.5766501815698, + 58.89874689781158, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -698.0766501815698, + 61.49682310916489, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -696.5766501815698, + 64.09489932051821, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -695.0766501815698, + 66.69297553187153, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.5766501815698, + 69.29105174322484, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.0766501815698, + 71.88912795457816, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -690.5766501815698, + 74.48720416593147, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -689.0766501815698, + 77.08528037728479, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.5766501815698, + 79.6833565886381, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -686.0766501815698, + 82.28143279999142, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -684.5766501815698, + 84.87950901134474, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -683.0766501815698, + 87.47758522269805, + 0.06946910458251132 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -683.0766501815698, + 87.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -683.0766501815698, + 90.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -683.0766501815698, + 93.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -683.0766501815698, + 96.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -683.0766501815698, + 99.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -683.0766501815698, + 102.47758522269805, + 0.06946910458251132 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -683.0766501815698, + 105.47758522269805, + 0.06946910458251132 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-22-25_309112297/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-22-25_309112297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3810e5ebd2f5fed1aa290243b6b4f10ba245fbe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-22-25_309112297/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 98.96002761091971, + -111.27400516840233, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.46002761091971, + -108.67592895704901, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 95.96002761091971, + -106.0778527456957, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.46002761091971, + -103.47977653434238, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 92.96002761091971, + -100.88170032298906, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.46002761091971, + -98.28362411163575, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 89.96002761091971, + -95.68554790028243, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.46002761091971, + -93.08747168892911, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 86.96002761091971, + -90.4893954775758, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.46002761091971, + -87.89131926622248, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 83.96002761091971, + -85.29324305486917, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.46002761091971, + -82.69516684351585, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 80.96002761091971, + -80.09709063216253, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.46002761091971, + -77.49901442080922, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 77.96002761091971, + -74.9009382094559, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.46002761091971, + -72.30286199810259, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 74.96002761091971, + -69.70478578674927, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.46002761091971, + -67.10670957539595, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 71.96002761091971, + -64.50863336404264, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.46002761091971, + -61.91055715268932, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 68.96002761091971, + -59.312480941336005, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.46002761091971, + -56.71440472998269, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 65.96002761091971, + -54.11632851862937, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 64.46002761091971, + -51.51825230727606, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.96002761091971, + -48.92017609592274, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 61.46002761091971, + -46.322099884569425, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 59.96002761091971, + -43.72402367321611, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.46002761091971, + -41.12594746186279, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.96002761091971, + -38.52787125050948, + -1.41601684145237 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 56.96002761091971, + -38.52787125050948, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 56.96002761091971, + -35.52787125050948, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 56.96002761091971, + -32.52787125050948, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 56.96002761091971, + -29.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.96002761091971, + -26.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 56.96002761091971, + -23.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 56.96002761091971, + -20.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 56.96002761091971, + -17.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 56.96002761091971, + -14.527871250509477, + -1.41601684145237 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 56.96002761091971, + -11.527871250509477, + -1.41601684145237 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-24-16_1431742587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-24-16_1431742587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a89f4887bb37cf1b13bedd06446a77a5d7874d35 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-24-16_1431742587/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.1729618347599, + 301.56627796952387, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.6729618347599, + 298.96820175817055, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -734.1729618347599, + 296.37012554681723, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -732.6729618347599, + 293.7720493354639, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -731.1729618347599, + 291.1739731241106, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.6729618347599, + 288.5758969127573, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -728.1729618347599, + 285.97782070140397, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -726.6729618347599, + 283.37974449005065, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -725.1729618347599, + 280.78166827869734, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.6729618347599, + 278.183592067344, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -722.1729618347599, + 275.5855158559907, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.6729618347599, + 272.9874396446374, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -719.1729618347599, + 270.3893634332841, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -717.6729618347599, + 267.79128722193076, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.1729618347599, + 265.19321101057744, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.6729618347599, + 262.5951347992241, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -713.1729618347599, + 259.9970585878708, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -711.6729618347599, + 257.3989823765175, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -710.1729618347599, + 254.80090616516418, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.6729618347599, + 252.20282995381086, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -707.1729618347599, + 249.60475374245755, + -4.598834816863171 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -707.1729618347599, + 249.60475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -704.5748856234065, + 248.10475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -701.9768094120532, + 246.60475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.3787332006998, + 245.10475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -696.7806569893464, + 243.60475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -694.182580777993, + 242.10475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -691.5845045666397, + 240.60475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -688.9864283552863, + 239.10475374245755, + -4.598834816863171 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -686.3883521439329, + 237.60475374245755, + -4.598834816863171 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-26-36_1412277685/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-26-36_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..715adfe2a7e27d8989d7086c17109b70525d3fd4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-26-36_1412277685/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 449.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 452.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 455.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 461.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 464.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 467.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 470.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 476.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 479.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 479.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 479.87716208510415, + 374.85925138102215, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 481.37716208510415, + 377.45732759237546, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 482.87716208510415, + 380.0554038037288, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 484.37716208510415, + 382.6534800150821, + 1.0283618119571862 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 484.37716208510415, + 382.6534800150821, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 486.97523829645746, + 384.1534800150821, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 489.5733145078108, + 385.6534800150821, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 492.1713907191641, + 387.1534800150821, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 494.7694669305174, + 388.6534800150821, + 1.0283618119571862 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 497.3675431418707, + 390.1534800150821, + 1.0283618119571862 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-2_1384095820/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-2_1384095820/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ef8e119324869f45304e37290cef80abee586eaa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-29-2_1384095820/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -102.36936976338617, + 480.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -102.36936976338617, + 477.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -102.36936976338617, + 474.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -102.36936976338617, + 471.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -102.36936976338617, + 468.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.36936976338617, + 465.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -102.36936976338617, + 462.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -102.36936976338617, + 459.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -102.36936976338617, + 456.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -102.36936976338617, + 453.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -102.36936976338617, + 450.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -102.36936976338617, + 447.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.36936976338617, + 444.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -102.36936976338617, + 441.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -102.36936976338617, + 438.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -102.36936976338617, + 435.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -102.36936976338617, + 432.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -102.36936976338617, + 429.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -102.36936976338617, + 426.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -102.36936976338617, + 423.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -102.36936976338617, + 420.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -102.36936976338617, + 417.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -102.36936976338617, + 414.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -102.36936976338617, + 411.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -102.36936976338617, + 408.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -102.36936976338617, + 405.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -102.36936976338617, + 402.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -102.36936976338617, + 399.8844100376433, + -4.314559133387651 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -102.36936976338617, + 399.8844100376433, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -103.86936976338617, + 397.28633382629, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -105.36936976338617, + 394.6882576149367, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -106.86936976338617, + 392.09018140358336, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -108.36936976338617, + 389.49210519223004, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -109.86936976338617, + 386.8940289808767, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -111.36936976338617, + 384.2959527695234, + -4.314559133387651 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -112.86936976338617, + 381.6978765581701, + -4.314559133387651 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-30-35_1745897490/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-30-35_1745897490/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b011b400356afe0d64dd76254e42310979f5b2ed --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-30-35_1745897490/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -931.5431273335851, + 67.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -928.9450511222317, + 65.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -926.3469749108783, + 64.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.748898699525, + 62.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -921.1508224881716, + 61.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -918.5527462768182, + 59.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -915.9546700654648, + 58.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -913.3565938541115, + 56.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -910.7585176427581, + 55.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -908.1604414314047, + 53.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -905.5623652200513, + 52.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -902.964289008698, + 50.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -900.3662127973446, + 49.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -897.7681365859912, + 47.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -895.1700603746378, + 46.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -892.5719841632845, + 44.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -889.9739079519311, + 43.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -887.3758317405777, + 41.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -884.7777555292244, + 40.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -882.179679317871, + 38.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -879.5816031065176, + 37.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -876.9835268951642, + 35.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -874.3854506838109, + 34.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -871.7873744724575, + 32.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -869.1892982611041, + 31.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -866.5912220497507, + 29.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -863.9931458383974, + 28.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -861.395069627044, + 26.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -858.7969934156906, + 25.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -856.1989172043372, + 23.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -853.6008409929839, + 22.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -851.0027647816305, + 20.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.4046885702771, + 19.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -845.8066123589238, + 17.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -843.2085361475704, + 16.46296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -840.610459936217, + 14.96296503212342, + 4.262422091149405 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -838.0123837248636, + 13.46296503212342, + 4.262422091149405 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-34-42_216220853/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-34-42_216220853/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c23464690d6fecbbf14f9ca52cdbaf9f3a9b2627 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-34-42_216220853/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -531.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -528.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -525.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -522.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -519.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -516.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -513.6366804951097, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -510.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -507.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -504.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -501.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -498.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -495.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -492.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -489.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -486.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -483.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -480.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -477.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -474.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -471.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -468.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -465.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -462.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -459.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -456.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -453.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -453.63668049510966, + -165.5474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -451.03860428375634, + -164.0474987522449, + 0.6028260684783113 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -448.440528072403, + -162.5474987522449, + 0.6028260684783113 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-18_1417076376/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-18_1417076376/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e732040f8987f451e6dc2abce76b369bbdc6a42 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-4-18_1417076376/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 488.86557504081117, + 240.21890600020077, + -0.3596663724763829 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 491.86557504081117, + 240.21890600020077, + -0.3596663724763829 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.86557504081117, + 240.21890600020077, + -0.3596663724763829 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 497.86557504081117, + 240.21890600020077, + -0.3596663724763829 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-26_1031126087/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-26_1031126087/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..333b06c142951bb9413e863d68b1962075eb1d26 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-41-26_1031126087/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -99.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -96.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -93.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -90.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -81.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -78.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -75.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -72.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -69.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -66.23007433075495, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -63.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -60.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -57.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -54.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -51.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -48.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -45.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -42.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -39.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -36.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -33.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -30.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -27.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -27.230074330754945, + -241.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -24.63199811940163, + -242.8811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -22.033921908048313, + -244.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -19.435845696694997, + -245.8811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -16.83776948534168, + -247.3811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -14.239693273988365, + -248.8811424269235, + -4.669259490058797 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -11.64161706263505, + -250.3811424269235, + -4.669259490058797 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-42-1_413360099/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-42-1_413360099/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4fa0b91255a52de209f3d1fc2c4033ecbfdca92d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-42-1_413360099/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 405.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 408.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 414.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 417.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 420.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 423.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 429.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 432.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 435.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 438.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 441.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 444.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 447.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 447.27458382236154, + 36.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 449.87266003371485, + 34.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 452.47073624506817, + 33.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.0688124564215, + 31.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 457.6668886677748, + 30.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 460.2649648791281, + 28.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 462.86304109048143, + 27.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.46111730183475, + 25.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 468.05919351318806, + 24.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 470.6572697245414, + 22.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 473.2553459358947, + 21.02576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 475.853422147248, + 19.52576784782061, + 1.5960270294261978 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 478.4514983586013, + 18.02576784782061, + 1.5960270294261978 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-24_1395405989/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-24_1395405989/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..45ff9b7d88ea646706f0ddb8e8b356f50582272d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_0-9-24_1395405989/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -905.2929962110247, + 304.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -907.8910724223781, + 306.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -910.4891486337315, + 307.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -913.0872248450848, + 309.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -915.6853010564382, + 310.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -918.2833772677916, + 312.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -920.881453479145, + 313.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -923.4795296904983, + 315.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -926.0776059018517, + 316.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -928.6756821132051, + 318.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -931.2737583245585, + 319.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -933.8718345359118, + 321.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -936.4699107472652, + 322.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -939.0679869586186, + 324.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -941.666063169972, + 325.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -944.2641393813253, + 327.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -946.8622155926787, + 328.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -949.4602918040321, + 330.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -952.0583680153854, + 331.6941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -954.6564442267388, + 333.1941948165033, + 2.481643198533093 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -954.6564442267388, + 333.1941948165033, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -956.1564442267388, + 335.7922710278566, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -957.6564442267388, + 338.3903472392099, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -959.1564442267388, + 340.98842345056323, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -960.6564442267388, + 343.58649966191655, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -962.1564442267388, + 346.18457587326986, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -963.6564442267388, + 348.7826520846232, + 2.481643198533093 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -963.6564442267388, + 348.7826520846232, + 2.481643198533093 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -966.2545204380922, + 350.2826520846232, + 2.481643198533093 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-25_672563970/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-25_672563970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..039af08bddc5638a458c0e3e6238afd0c1cf1889 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-25_672563970/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -754.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -751.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -745.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -739.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -736.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -733.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -730.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -727.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -724.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -718.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -715.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -712.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -709.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.0996276980549, + 243.17779707649603, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -707.5996276980549, + 245.77587328784935, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.0996276980549, + 248.37394949920267, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -704.5996276980549, + 250.97202571055598, + -1.7148019822686296 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -704.5996276980549, + 250.97202571055598, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.0015514867016, + 252.47202571055598, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -699.4034752753482, + 253.97202571055598, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -696.8053990639949, + 255.47202571055598, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.2073228526415, + 256.97202571055595, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982812 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -691.6092466412881, + 258.47202571055595, + -1.7148019822686296 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.0111704299347, + 259.97202571055595, + -1.7148019822686296 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-40_849725352/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-40_849725352/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca48fdd99ffeb02eda7b860163ecba23fb506516 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-1-40_849725352/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -692.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -689.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -686.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -683.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -680.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -674.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -671.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -668.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -665.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -662.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -659.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -656.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -653.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -647.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -644.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -641.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -641.8951533753299, + 42.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -639.2970771639766, + 44.01382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -636.6990009526232, + 45.51382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -634.1009247412699, + 47.01382943246351, + -3.7398649244071867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -631.5028485299165, + 48.51382943246351, + -3.7398649244071867 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-10-31_1998994314/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-10-31_1998994314/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..be047d6ceff130966d4364b6b7fbf9ddc9503c01 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-10-31_1998994314/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -685.9594085873515, + 229.4605610244231, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -687.4594085873515, + 226.86248481306978, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -688.9594085873515, + 224.26440860171647, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -690.4594085873515, + 221.66633239036315, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -691.9594085873515, + 219.06825617900984, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -693.4594085873515, + 216.47017996765652, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -694.9594085873515, + 213.8721037563032, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.4594085873515, + 211.2740275449499, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -697.9594085873515, + 208.67595133359657, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.4594085873515, + 206.07787512224326, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.9594085873515, + 203.47979891088994, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -702.4594085873515, + 200.88172269953662, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.9594085873515, + 198.2836464881833, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.4594085873515, + 195.68557027683, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.9594085873515, + 193.08749406547668, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.4594085873515, + 190.48941785412336, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -709.9594085873515, + 187.89134164277004, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -711.4594085873515, + 185.29326543141673, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -712.9594085873515, + 182.6951892200634, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.4594085873515, + 180.0971130087101, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -715.9594085873515, + 177.49903679735678, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -717.4594085873515, + 174.90096058600346, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -718.9594085873515, + 172.30288437465015, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -720.4594085873515, + 169.70480816329683, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -721.9594085873515, + 167.10673195194352, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -723.4594085873515, + 164.5086557405902, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -724.9594085873515, + 161.91057952923688, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -726.4594085873515, + 159.31250331788357, + 0.14447029619324336 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -726.4594085873515, + 159.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -726.4594085873515, + 156.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -726.4594085873515, + 153.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -726.4594085873515, + 150.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -726.4594085873515, + 147.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -726.4594085873515, + 144.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -726.4594085873515, + 141.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -726.4594085873515, + 138.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -726.4594085873515, + 135.31250331788357, + 0.14447029619324336 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -726.4594085873515, + 132.31250331788357, + 0.14447029619324336 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-37_1369678468/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-37_1369678468/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..763bce33db1849f4d0c3eed6dc7997ab898841da --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-17-37_1369678468/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -926.9477790390131, + 186.54619845895962, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -928.4477790390131, + 189.14427467031294, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -929.9477790390131, + 191.74235088166625, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -931.4477790390131, + 194.34042709301957, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -932.9477790390131, + 196.9385033043729, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -934.4477790390131, + 199.5365795157262, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -935.9477790390131, + 202.13465572707952, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -937.4477790390131, + 204.73273193843283, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -938.9477790390131, + 207.33080814978615, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -940.4477790390131, + 209.92888436113947, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -941.9477790390131, + 212.52696057249278, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -943.4477790390131, + 215.1250367838461, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -944.9477790390131, + 217.72311299519941, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -946.4477790390131, + 220.32118920655273, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.9477790390131, + 222.91926541790605, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -949.4477790390131, + 225.51734162925936, + -0.7655161278046858 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -949.4477790390131, + 225.51734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -952.0458552503665, + 227.01734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -954.6439314617198, + 228.51734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -957.2420076730732, + 230.01734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -959.8400838844266, + 231.51734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -962.43816009578, + 233.01734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -965.0362363071333, + 234.51734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -967.6343125184867, + 236.01734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -970.2323887298401, + 237.51734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -972.8304649411934, + 239.01734162925936, + -0.7655161278046858 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -975.4285411525468, + 240.51734162925936, + -0.7655161278046858 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-37_990526343/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-37_990526343/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..671140968326de3c33d89edc49f06521ee6091fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-26-37_990526343/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -744.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -741.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -738.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -735.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -732.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -726.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -723.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -720.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -714.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -711.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -693.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -690.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -681.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -681.3078167433315, + 264.7598668848466, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -679.8078167433315, + 267.3579430961999, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.3078167433315, + 269.9560193075532, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -676.8078167433315, + 272.55409551890654, + 1.293481199217748 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -676.8078167433315, + 272.55409551890654, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -674.2097405319782, + 274.05409551890654, + 1.293481199217748 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -671.6116643206249, + 275.55409551890654, + 1.293481199217748 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-30_830365981/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-30_830365981/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c83513c96233abef02faae01304fcbbbec290db5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-27-30_830365981/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -701.8030007619307, + 392.0885963612384, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -700.3030007619307, + 394.6866725725917, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -698.8030007619307, + 397.284748783945, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -697.3030007619307, + 399.88282499529834, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -695.8030007619307, + 402.48090120665165, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.3030007619307, + 405.07897741800497, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -692.8030007619307, + 407.6770536293583, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -691.3030007619307, + 410.2751298407116, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -689.8030007619307, + 412.8732060520649, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -688.3030007619307, + 415.47128226341823, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -686.8030007619307, + 418.06935847477155, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.3030007619307, + 420.66743468612486, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -683.8030007619307, + 423.2655108974782, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -682.3030007619307, + 425.8635871088315, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.8030007619307, + 428.4616633201848, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.3030007619307, + 431.0597395315381, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.8030007619307, + 433.65781574289144, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -676.3030007619307, + 436.25589195424476, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -674.8030007619307, + 438.8539681655981, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.3030007619307, + 441.4520443769514, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -671.8030007619307, + 444.0501205883047, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.3030007619307, + 446.648196799658, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.8030007619307, + 449.24627301101134, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.3030007619307, + 451.84434922236466, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -665.8030007619307, + 454.442425433718, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -664.3030007619307, + 457.0405016450713, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -662.8030007619307, + 459.6385778564246, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -661.3030007619307, + 462.2366540677779, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -659.8030007619307, + 464.83473027913124, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -658.3030007619307, + 467.43280649048455, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -656.8030007619307, + 470.03088270183787, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -655.3030007619307, + 472.6289589131912, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -653.8030007619307, + 475.2270351245445, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -652.3030007619307, + 477.8251113358978, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -650.8030007619307, + 480.42318754725113, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -649.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -649.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "turn right", + "value": 30, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -649.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -646.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -643.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -640.3030007619307, + 483.02126375860445, + 4.3125953877330865 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-3-20_190113083/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-3-20_190113083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..621a933387587f5609c2731f8c0c602240fb8bbf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-3-20_190113083/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -729.9141396437614, + 345.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.9141396437614, + 342.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -729.9141396437614, + 339.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.9141396437614, + 336.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.9141396437614, + 333.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.9141396437614, + 330.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -729.9141396437614, + 327.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -729.9141396437614, + 324.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -729.9141396437614, + 321.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -729.9141396437614, + 318.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.9141396437614, + 315.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -729.9141396437614, + 312.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -729.9141396437614, + 309.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -729.9141396437614, + 306.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -729.9141396437614, + 303.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -729.9141396437614, + 300.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -729.9141396437614, + 297.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -729.9141396437614, + 294.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -729.9141396437614, + 291.3574865268088, + -2.803810977776418 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -729.9141396437614, + 291.3574865268088, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -728.4141396437614, + 288.7594103154555, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -726.9141396437614, + 286.1613341041022, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -725.4141396437614, + 283.5632578927489, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -723.9141396437614, + 280.96518168139556, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -722.4141396437614, + 278.36710547004225, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -720.9141396437614, + 275.76902925868893, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -719.4141396437614, + 273.1709530473356, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -717.9141396437614, + 270.5728768359823, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -716.4141396437614, + 267.974800624629, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -714.9141396437614, + 265.37672441327567, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -713.4141396437614, + 262.77864820192235, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -711.9141396437614, + 260.18057199056904, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -710.4141396437614, + 257.5824957792157, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.9141396437614, + 254.9844195678624, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -707.4141396437614, + 252.3863433565091, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -705.9141396437614, + 249.78826714515577, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -704.4141396437614, + 247.19019093380246, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -702.9141396437614, + 244.59211472244914, + -2.803810977776418 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -701.4141396437614, + 241.99403851109582, + -2.803810977776418 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-32_278450030/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-32_278450030/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ffe62314608e02edb6516ecb7761e5cec5484120 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-37-32_278450030/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -623.8138633372436, + -382.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -621.2157871258903, + -380.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -618.6177109145369, + -379.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -616.0196347031836, + -377.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -613.4215584918302, + -376.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -610.8234822804768, + -374.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -608.2254060691234, + -373.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -605.6273298577701, + -371.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -603.0292536464167, + -370.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -600.4311774350633, + -368.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -597.83310122371, + -367.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -595.2350250123566, + -365.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -592.6369488010032, + -364.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -590.0388725896498, + -362.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -587.4407963782965, + -361.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -584.8427201669431, + -359.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -582.2446439555897, + -358.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -579.6465677442363, + -356.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -577.048491532883, + -355.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -574.4504153215296, + -353.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -571.8523391101762, + -352.1828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -569.2542628988228, + -350.6828787422635, + 0.5033135273004641 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -569.2542628988228, + -350.6828787422635, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -567.7542628988228, + -348.08480253091017, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -566.2542628988228, + -345.48672631955685, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -564.7542628988228, + -342.88865010820354, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -563.2542628988228, + -340.2905738968502, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -561.7542628988228, + -337.6924976854969, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -560.2542628988228, + -335.0944214741436, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -558.7542628988228, + -332.49634526279027, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -557.2542628988228, + -329.89826905143696, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -555.7542628988228, + -327.30019284008364, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -554.2542628988228, + -324.7021166287303, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -552.7542628988228, + -322.104040417377, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -551.2542628988228, + -319.5059642060237, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -549.7542628988228, + -316.9078879946704, + 0.5033135273004641 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -548.2542628988228, + -314.30981178331706, + 0.5033135273004641 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-55_1124734562/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-55_1124734562/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f6ca2c423e1b550ed32b696def7d9be99b81e23 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-55_1124734562/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -415.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -412.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -409.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -406.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -403.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -400.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -397.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -394.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -391.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -388.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -385.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -382.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -379.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -379.5510921244814, + 536.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -376.95301591312807, + 537.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -374.35493970177475, + 539.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -371.75686349042144, + 540.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -369.1587872790681, + 542.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -366.5607110677148, + 543.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -363.9626348563615, + 545.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -361.3645586450082, + 546.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -358.76648243365486, + 548.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -356.16840622230154, + 549.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -353.5703300109482, + 551.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -350.9722537995949, + 552.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.3741775882416, + 554.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -345.7761013768883, + 555.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -343.17802516553496, + 557.080622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -340.57994895418165, + 558.580622087417, + -2.7532674433136393 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -337.98187274282833, + 560.080622087417, + -2.7532674433136393 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-7_311269559/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-7_311269559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6dee8ff8e8bc7be65533b6ca18fdcf40a9010e4b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-38-7_311269559/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -399.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -396.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -393.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -390.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -390.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -390.29144927156955, + -64.6114042956068, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -388.79144927156955, + -67.20948050696012, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -387.29144927156955, + -69.80755671831344, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -385.79144927156955, + -72.40563292966675, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -384.29144927156955, + -75.00370914102007, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -382.79144927156955, + -77.60178535237338, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -381.29144927156955, + -80.1998615637267, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -379.79144927156955, + -82.79793777508002, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -378.29144927156955, + -85.39601398643333, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -376.79144927156955, + -87.99409019778665, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -375.29144927156955, + -90.59216640913996, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -373.79144927156955, + -93.19024262049328, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -372.29144927156955, + -95.7883188318466, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -370.79144927156955, + -98.38639504319991, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -369.29144927156955, + -100.98447125455323, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.79144927156955, + -103.58254746590654, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -366.29144927156955, + -106.18062367725986, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -364.79144927156955, + -108.77869988861318, + -4.021388908266573 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -364.79144927156955, + -108.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -362.19337306021623, + -110.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -359.5952968488629, + -111.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -356.9972206375096, + -113.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -354.3991444261563, + -114.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -351.80106821480297, + -116.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -349.20299200344965, + -117.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -346.60491579209634, + -119.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -344.006839580743, + -120.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -341.4087633693897, + -122.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -338.8106871580364, + -123.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -336.21261094668307, + -125.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -333.61453473532976, + -126.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -331.01645852397644, + -128.27869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -328.4183823126231, + -129.77869988861318, + -4.021388908266573 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -325.8203061012698, + -131.27869988861318, + -4.021388908266573 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-42-47_572132557/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-42-47_572132557/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06d59da263d31ef0f36492b8448982edc29a3de8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-42-47_572132557/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -572.6428054267997, + 2.3256606515382376, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -575.6428054267997, + 2.325660651538238, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -578.6428054267997, + 2.3256606515382385, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -581.6428054267997, + 2.325660651538239, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -584.6428054267997, + 2.3256606515382394, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -587.6428054267997, + 2.32566065153824, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -590.6428054267997, + 2.3256606515382403, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -593.6428054267997, + 2.3256606515382408, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -596.6428054267997, + 2.325660651538241, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -599.6428054267997, + 2.3256606515382416, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -602.6428054267997, + 2.325660651538242, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -605.6428054267997, + 2.3256606515382425, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -608.6428054267997, + 2.325660651538243, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -611.6428054267997, + 2.3256606515382434, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -614.6428054267997, + 2.325660651538244, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -617.6428054267997, + 2.3256606515382443, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -620.6428054267997, + 2.3256606515382447, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -623.6428054267997, + 2.325660651538245, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -626.6428054267997, + 2.3256606515382456, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -629.6428054267997, + 2.325660651538246, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -632.6428054267997, + 2.3256606515382465, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -635.6428054267997, + 2.325660651538247, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.6428054267997, + 2.3256606515382474, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -641.6428054267997, + 2.325660651538248, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -644.6428054267997, + 2.3256606515382483, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -647.6428054267997, + 2.3256606515382487, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -650.6428054267997, + 2.325660651538249, + -3.956622542088067 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -650.6428054267997, + 2.325660651538249, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -653.240881638153, + 3.825660651538249, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -655.8389578495064, + 5.325660651538249, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -658.4370340608598, + 6.825660651538249, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -661.0351102722132, + 8.325660651538248, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -663.6331864835665, + 9.825660651538248, + -3.956622542088067 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -666.2312626949199, + 11.325660651538248, + -3.956622542088067 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-25_1403938270/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-25_1403938270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bd3717737d295bb4993d10d48553734e8da54638 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-25_1403938270/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -838.3484056255655, + 87.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -838.3484056255655, + 84.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -838.3484056255655, + 81.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -838.3484056255655, + 78.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -838.3484056255655, + 75.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -838.3484056255655, + 72.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -838.3484056255655, + 69.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -838.3484056255655, + 66.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -838.3484056255655, + 63.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -838.3484056255655, + 60.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -838.3484056255655, + 57.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -838.3484056255655, + 54.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -838.3484056255655, + 51.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -838.3484056255655, + 48.77534950292147, + -0.7085210411162004 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -838.3484056255655, + 48.77534950292147, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -836.8484056255655, + 46.177273291568156, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -835.3484056255655, + 43.57919708021484, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -833.8484056255655, + 40.981120868861524, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -832.3484056255655, + 38.38304465750821, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -830.8484056255655, + 35.78496844615489, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -829.3484056255655, + 33.186892234801576, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -827.8484056255655, + 30.58881602344826, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -826.3484056255655, + 27.990739812094944, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -824.8484056255655, + 25.392663600741628, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -823.3484056255655, + 22.79458738938831, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -821.8484056255655, + 20.196511178034996, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -820.3484056255655, + 17.59843496668168, + -0.7085210411162004 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -818.8484056255655, + 15.000358755328364, + -0.7085210411162004 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-41_1384079421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-41_1384079421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99c857c30a089057064581bb9a770d098d21d4d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-45-41_1384079421/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -255.46297447613176, + -468.08323009597893, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -252.46297447613176, + -468.08323009597893, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -249.46297447613176, + -468.08323009597893, + 2.53437682710104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -249.46297447613176, + -468.08323009597893, + 2.53437682710104 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -249.46297447613176, + -468.08323009597893, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -247.96297447613176, + -465.4851538846256, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -246.46297447613176, + -462.8870776732723, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -244.96297447613176, + -460.289001461919, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -243.46297447613176, + -457.69092525056567, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -241.96297447613176, + -455.09284903921235, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -240.46297447613176, + -452.49477282785904, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -238.96297447613176, + -449.8966966165057, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.46297447613176, + -447.2986204051524, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -235.96297447613176, + -444.7005441937991, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -234.46297447613176, + -442.1024679824458, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -232.96297447613176, + -439.50439177109246, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -231.46297447613176, + -436.90631555973914, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -229.96297447613176, + -434.3082393483858, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -228.46297447613176, + -431.7101631370325, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -226.96297447613176, + -429.1120869256792, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -225.46297447613176, + -426.5140107143259, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -223.96297447613176, + -423.91593450297256, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -222.46297447613176, + -421.31785829161925, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -220.96297447613176, + -418.71978208026593, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -219.46297447613176, + -416.1217058689126, + 2.53437682710104 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -217.96297447613176, + -413.5236296575593, + 2.53437682710104 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-49-29_1237979969/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-49-29_1237979969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9ba0f2fa764bd5e48b9880afd41ce0dc09b8dcc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-49-29_1237979969/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -291.22770628511296, + -470.8960376602639, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -292.72770628511296, + -468.2979614489106, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -294.22770628511296, + -465.6998852375573, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -295.72770628511296, + -463.10180902620397, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -297.22770628511296, + -460.50373281485065, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.72770628511296, + -457.90565660349733, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -300.22770628511296, + -455.307580392144, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -301.72770628511296, + -452.7095041807907, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -303.22770628511296, + -450.1114279694374, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -304.72770628511296, + -447.51335175808407, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -306.22770628511296, + -444.91527554673075, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.72770628511296, + -442.31719933537744, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -309.22770628511296, + -439.7191231240241, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -310.72770628511296, + -437.1210469126708, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.22770628511296, + -434.5229707013175, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -313.72770628511296, + -431.9248944899642, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -315.22770628511296, + -429.32681827861086, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -316.72770628511296, + -426.72874206725754, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -318.22770628511296, + -424.1306658559042, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -319.72770628511296, + -421.5325896445509, + -2.4162838141072633 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -319.72770628511296, + -421.5325896445509, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -319.72770628511296, + -418.5325896445509, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -319.72770628511296, + -415.5325896445509, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -319.72770628511296, + -412.5325896445509, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -319.72770628511296, + -409.5325896445509, + -2.4162838141072633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -319.72770628511296, + -406.5325896445509, + -2.4162838141072633 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-53-33_1698487330/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-53-33_1698487330/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6a49cac916cbafaac3205059950a45d8002b7f4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-53-33_1698487330/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 386.52005913557423, + 3.3434436758814314, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 385.02005913557423, + 0.7453674645281154, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 383.52005913557423, + -1.8527087468252006, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.02005913557423, + -4.450784958178517, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 380.52005913557423, + -7.048861169531833, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 379.02005913557423, + -9.646937380885149, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 377.52005913557423, + -12.245013592238465, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 376.02005913557423, + -14.84308980359178, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 374.52005913557423, + -17.441166014945097, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.02005913557423, + -20.039242226298413, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 371.52005913557423, + -22.63731843765173, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 370.02005913557423, + -25.235394649005045, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 368.52005913557423, + -27.83347086035836, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 367.02005913557423, + -30.431547071711677, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 365.52005913557423, + -33.02962328306499, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 364.02005913557423, + -35.62769949441831, + -2.342590714117754 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 364.02005913557423, + -35.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 364.02005913557423, + -38.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 364.02005913557423, + -41.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 364.02005913557423, + -44.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 364.02005913557423, + -47.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 364.02005913557423, + -50.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 364.02005913557423, + -53.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 364.02005913557423, + -56.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 364.02005913557423, + -59.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 364.02005913557423, + -62.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 364.02005913557423, + -65.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 364.02005913557423, + -68.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 364.02005913557423, + -71.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 364.02005913557423, + -74.62769949441831, + -2.342590714117754 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 364.02005913557423, + -77.62769949441831, + -2.342590714117754 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-54-22_1666231349/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-54-22_1666231349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ac0f2a1f8b46dc462a5406573c96cf0c92525f2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-54-22_1666231349/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -677.3656038805453, + 27.137545470331517, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.3656038805453, + 30.137545470331517, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -677.3656038805453, + 33.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -677.3656038805453, + 36.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -677.3656038805453, + 39.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.3656038805453, + 42.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.3656038805453, + 45.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.3656038805453, + 48.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -677.3656038805453, + 51.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -677.3656038805453, + 54.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -677.3656038805453, + 57.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.3656038805453, + 60.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -677.3656038805453, + 63.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.3656038805453, + 66.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.3656038805453, + 69.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.3656038805453, + 72.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.3656038805453, + 75.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -677.3656038805453, + 78.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -677.3656038805453, + 81.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.3656038805453, + 84.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -677.3656038805453, + 87.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.3656038805453, + 90.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -677.3656038805453, + 93.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.3656038805453, + 96.13754547033152, + -0.3027721869002482 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.3656038805453, + 96.13754547033152, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.8656038805453, + 98.73562168168483, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -680.3656038805453, + 101.33369789303815, + -0.3027721869002482 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.8656038805453, + 103.93177410439147, + -0.3027721869002482 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-55-31_532495011/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-55-31_532495011/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06a97da3d73dd1746665c45fbe1d473bc676e114 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-55-31_532495011/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -674.8148597823938, + 182.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -677.4129359937472, + 184.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -680.0110122051005, + 185.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -682.6090884164539, + 187.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -685.2071646278073, + 188.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -687.8052408391607, + 190.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -690.403317050514, + 191.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -693.0013932618674, + 193.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -695.5994694732208, + 194.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -698.1975456845742, + 196.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -700.7956218959275, + 197.76975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -703.3936981072809, + 199.26975019713808, + -0.37294874795683075 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -703.3936981072809, + 199.26975019713808, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -704.8936981072809, + 201.8678264084914, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -706.3936981072809, + 204.4659026198447, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -707.8936981072809, + 207.06397883119803, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -709.3936981072809, + 209.66205504255134, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -710.8936981072809, + 212.26013125390466, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -712.3936981072809, + 214.85820746525798, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -713.8936981072809, + 217.4562836766113, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -715.3936981072809, + 220.0543598879646, + -0.37294874795683075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.8936981072809, + 222.65243609931792, + -0.37294874795683075 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-58-58_1386510139/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-58-58_1386510139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..914d04e1df5ca10642246c0be6c3f0e1bf423cf6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-58-58_1386510139/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -425.6585007647181, + 116.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -425.6585007647181, + 113.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -425.6585007647181, + 110.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -425.6585007647181, + 107.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -425.6585007647181, + 104.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -425.6585007647181, + 101.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -425.6585007647181, + 98.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -425.6585007647181, + 95.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -425.6585007647181, + 92.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -425.6585007647181, + 89.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -425.6585007647181, + 86.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -425.6585007647181, + 83.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -425.6585007647181, + 80.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -425.6585007647181, + 77.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -425.6585007647181, + 74.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -425.6585007647181, + 71.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -425.6585007647181, + 68.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -425.6585007647181, + 65.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -425.6585007647181, + 62.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -425.6585007647181, + 59.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -425.6585007647181, + 56.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -425.6585007647181, + 53.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -425.6585007647181, + 50.16903706808239, + -0.5734785884386318 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -425.6585007647181, + 50.16903706808239, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -427.1585007647181, + 47.57096085672907, + -0.5734785884386318 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -428.6585007647181, + 44.97288464537576, + -0.5734785884386318 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-9-26_2067062760/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-9-26_2067062760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8a9875c2ca938ff6914c2d5f0e51733d61575ab --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_1-9-26_2067062760/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 406.31509823414245, + 4.9825653796685, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 404.81509823414245, + 2.3844891683151843, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 403.31509823414245, + -0.2135870430381317, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 401.81509823414245, + -2.8116632543914477, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 400.31509823414245, + -5.409739465744764, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 398.81509823414245, + -8.00781567709808, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 397.31509823414245, + -10.605891888451396, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 395.81509823414245, + -13.203968099804712, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 394.31509823414245, + -15.802044311158028, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 392.81509823414245, + -18.400120522511344, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 391.31509823414245, + -20.99819673386466, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 389.81509823414245, + -23.596272945217976, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 388.31509823414245, + -26.194349156571292, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 386.81509823414245, + -28.792425367924608, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 385.31509823414245, + -31.390501579277924, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 383.81509823414245, + -33.98857779063124, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 382.31509823414245, + -36.586654001984556, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 380.81509823414245, + -39.18473021333787, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 379.31509823414245, + -41.78280642469119, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 377.81509823414245, + -44.380882636044504, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 376.31509823414245, + -46.97895884739782, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 374.81509823414245, + -49.577035058751136, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 373.31509823414245, + -52.17511127010445, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 371.81509823414245, + -54.77318748145777, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 370.31509823414245, + -57.371263692811084, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 368.81509823414245, + -59.9693399041644, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 367.31509823414245, + -62.567416115517716, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 365.81509823414245, + -65.16549232687103, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 364.31509823414245, + -67.76356853822435, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 362.81509823414245, + -70.36164474957766, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 361.31509823414245, + -72.95972096093098, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 359.81509823414245, + -75.5577971722843, + 2.2825990645931995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 359.81509823414245, + -75.5577971722843, + 2.2825990645931995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 359.81509823414245, + -75.5577971722843, + 2.2825990645931995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 361.31509823414245, + -78.15587338363761, + 2.2825990645931995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-11-43_35005211/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-11-43_35005211/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d56f4e6de832c696d1e915e96fdfc58cf5eaf9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-11-43_35005211/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -718.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -715.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -712.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -709.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -706.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -703.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -700.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -697.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -694.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -691.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -682.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.0632488642169, + 64.29040055872757, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.5632488642169, + 66.88847677008089, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -676.0632488642169, + 69.4865529814342, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -674.5632488642169, + 72.08462919278752, + 3.741424712779777 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -674.5632488642169, + 72.08462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -671.9651726528637, + 73.58462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -669.3670964415103, + 75.08462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.7690202301569, + 76.58462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -664.1709440188035, + 78.08462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -661.5728678074502, + 79.58462919278752, + 3.741424712779777 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -658.9747915960968, + 81.08462919278752, + 3.741424712779777 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-13-0_861021530/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-13-0_861021530/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..500f1c3de23ccb9c1c3d1be221ac8b2ed7211406 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-13-0_861021530/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -687.7811943784457, + 143.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -687.7811943784457, + 146.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -687.7811943784457, + 149.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -687.7811943784457, + 152.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -687.7811943784457, + 155.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -687.7811943784457, + 158.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -687.7811943784457, + 161.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -687.7811943784457, + 164.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -687.7811943784457, + 167.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -687.7811943784457, + 170.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.7811943784457, + 173.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -687.7811943784457, + 176.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -687.7811943784457, + 179.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -687.7811943784457, + 182.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -687.7811943784457, + 185.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -687.7811943784457, + 188.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -687.7811943784457, + 191.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -687.7811943784457, + 194.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -687.7811943784457, + 197.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.7811943784457, + 200.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.7811943784457, + 203.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.7811943784457, + 206.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -687.7811943784457, + 209.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.7811943784457, + 212.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.7811943784457, + 215.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.7811943784457, + 218.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.7811943784457, + 221.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.7811943784457, + 224.63067365706144, + -3.072162815266912 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.7811943784457, + 224.63067365706144, + -3.072162815266912 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.7811943784457, + 224.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -690.379270589799, + 226.13067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -692.9773468011524, + 227.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -695.5754230125058, + 229.13067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -698.1734992238592, + 230.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.7715754352125, + 232.13067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -703.3696516465659, + 233.63067365706144, + -3.072162815266912 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -705.9677278579193, + 235.13067365706144, + -3.072162815266912 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-14-15_1101513929/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-14-15_1101513929/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5164c6f73b7b2794382a74a0f67c692eeaa074f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-14-15_1101513929/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -997.2166929381207, + 296.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -994.6186167267674, + 297.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -992.020540515414, + 299.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -989.4224643040607, + 300.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -986.8243880927073, + 302.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -984.2263118813539, + 303.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -981.6282356700005, + 305.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -979.0301594586472, + 306.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -976.4320832472938, + 308.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -973.8340070359404, + 309.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -971.2359308245871, + 311.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -968.6378546132337, + 312.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -966.0397784018803, + 314.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -963.4417021905269, + 315.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -960.8436259791736, + 317.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -958.2455497678202, + 318.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -955.6474735564668, + 320.3137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -953.0493973451134, + 321.8137345736732, + 2.1025393249250737 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -953.0493973451134, + 321.8137345736732, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -951.5493973451134, + 324.4118107850265, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -950.0493973451134, + 327.0098869963798, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -948.5493973451134, + 329.6079632077331, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -947.0493973451134, + 332.20603941908644, + 2.1025393249250737 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -945.5493973451134, + 334.80411563043975, + 2.1025393249250737 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-10_149798315/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-10_149798315/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6c83e1e35e67ab8e5f74e48b1775fcf90e97333 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-10_149798315/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -87.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -93.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -96.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -99.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -102.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -105.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -108.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -111.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -114.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -117.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -120.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -123.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -126.14107719056379, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -129.1410771905638, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -132.1410771905638, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -132.1410771905638, + -80.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -134.73915340191712, + -78.51876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -137.33722961327044, + -77.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -139.93530582462375, + -75.51876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -142.53338203597707, + -74.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -145.13145824733039, + -72.51876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -147.7295344586837, + -71.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -150.32761067003702, + -69.51876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -152.92568688139033, + -68.01876729823229, + 1.5230771333327855 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -155.52376309274365, + -66.51876729823229, + 1.5230771333327855 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-43_1129566413/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-43_1129566413/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44def16581aee9c147451aad8b5f0f7374219bb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-19-43_1129566413/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -984.566430994637, + 401.14625832171646, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -986.066430994637, + 398.54818211036314, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -987.566430994637, + 395.9501058990098, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -989.066430994637, + 393.3520296876565, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -990.566430994637, + 390.7539534763032, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -992.066430994637, + 388.1558772649499, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -993.566430994637, + 385.55780105359656, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -995.066430994637, + 382.95972484224325, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -996.566430994637, + 380.36164863088993, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -998.066430994637, + 377.7635724195366, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -999.566430994637, + 375.1654962081833, + 4.176985081648279 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -1001.066430994637, + 372.56741999683, + 4.176985081648279 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-20-8_412776091/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-20-8_412776091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..148ab93eae3e55014468cd263c9d4ce9292aaf15 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-20-8_412776091/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -337.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -334.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -331.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -328.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -325.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -322.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -319.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -316.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -310.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -307.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -304.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -301.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -298.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -295.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -289.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -283.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -280.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -277.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -274.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -271.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -268.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -265.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -265.9407444939039, + 643.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -263.34266828255056, + 645.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -260.74459207119725, + 646.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -258.14651585984393, + 648.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -255.54843964849061, + 649.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -252.9503634371373, + 651.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -250.35228722578398, + 652.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -247.75421101443067, + 654.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -245.15613480307735, + 655.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -242.55805859172403, + 657.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -239.95998238037072, + 658.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -237.3619061690174, + 660.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -234.7638299576641, + 661.8761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -232.16575374631077, + 663.3761905706936, + -1.9508633885960025 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -229.56767753495745, + 664.8761905706936, + -1.9508633885960025 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-21-39_982906996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-21-39_982906996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ec4abe8389c1a976548f42c6b936f6970d5b004 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-21-39_982906996/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -909.4392641920344, + 411.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -912.0373404033878, + 409.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -914.6354166147412, + 408.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -917.2334928260946, + 406.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -919.8315690374479, + 405.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -922.4296452488013, + 403.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -925.0277214601547, + 402.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -927.625797671508, + 400.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -930.2238738828614, + 399.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -932.8219500942148, + 397.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -935.4200263055682, + 396.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -938.0181025169215, + 394.6019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -940.6161787282749, + 393.1019300721984, + 3.220173126773455 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -940.6161787282749, + 393.1019300721984, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -942.1161787282749, + 390.5038538608451, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -943.6161787282749, + 387.90577764949177, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -945.1161787282749, + 385.30770143813845, + 3.220173126773455 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -946.6161787282749, + 382.70962522678514, + 3.220173126773455 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-23-28_1159126505/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-23-28_1159126505/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..78238e15b83366e69b7a8254df4fda4ed6a9521b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-23-28_1159126505/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 399.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 405.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 408.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 411.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 414.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 420.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 423.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 426.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 429.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 432.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 435.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 438.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 441.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 444.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 447.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 450.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 453.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 456.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 459.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 462.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 465.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 468.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 471.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 471.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.5345913142648, + 4.949947767901126, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 473.0345913142648, + 7.548023979254442, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 474.5345913142648, + 10.146100190607758, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 476.0345913142648, + 12.744176401961074, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 477.5345913142648, + 15.34225261331439, + -4.978198918355016 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 479.0345913142648, + 17.940328824667706, + -4.978198918355016 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-22_1411549676/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-22_1411549676/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0e4015dcfce70ca4c43bba27aeb65282005f16c5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-30-22_1411549676/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 284.5459018556584, + 632.8767229427899, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 283.0459018556584, + 635.4747991541433, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 281.5459018556584, + 638.0728753654967, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 280.0459018556584, + 640.67095157685, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 278.5459018556584, + 643.2690277882034, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 277.0459018556584, + 645.8671039995568, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 275.5459018556584, + 648.4651802109101, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.0459018556584, + 651.0632564222635, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 272.5459018556584, + 653.6613326336169, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 271.0459018556584, + 656.2594088449703, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 269.5459018556584, + 658.8574850563236, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.0459018556584, + 661.455561267677, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 266.5459018556584, + 664.0536374790304, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.0459018556584, + 666.6517136903838, + 1.950242583722134 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 265.0459018556584, + 666.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 262.4478256443051, + 668.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 259.8497494329518, + 669.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 257.2516732215985, + 671.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 254.65359701024516, + 672.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 252.05552079889185, + 674.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 249.45744458753853, + 675.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 246.85936837618522, + 677.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 244.2612921648319, + 678.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 241.66321595347858, + 680.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 239.06513974212527, + 681.6517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 236.46706353077195, + 683.1517136903838, + 1.950242583722134 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 236.46706353077195, + 683.1517136903838, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 234.96706353077195, + 685.7497899017371, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 233.46706353077195, + 688.3478661130905, + 1.950242583722134 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 231.96706353077195, + 690.9459423244439, + 1.950242583722134 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-35-17_660260756/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-35-17_660260756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba04108fbc8f847fd7fbbf07b6447a72bf8a6b2a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-35-17_660260756/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -292.7311053157922, + -379.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -292.7311053157922, + -382.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -292.7311053157922, + -385.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -292.7311053157922, + -388.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -292.7311053157922, + -391.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -292.7311053157922, + -394.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -292.7311053157922, + -397.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -292.7311053157922, + -400.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -292.7311053157922, + -403.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -292.7311053157922, + -406.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -292.7311053157922, + -409.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -292.7311053157922, + -412.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -292.7311053157922, + -415.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.7311053157922, + -418.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -292.7311053157922, + -421.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.7311053157922, + -424.3089504291815, + 2.0873893280790696 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -292.7311053157922, + -424.3089504291815, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -291.2311053157922, + -426.9070266405348, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -289.7311053157922, + -429.5051028518881, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -288.2311053157922, + -432.10317906324144, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -286.7311053157922, + -434.70125527459476, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -285.2311053157922, + -437.2993314859481, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -283.7311053157922, + -439.8974076973014, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -282.2311053157922, + -442.4954839086547, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -280.7311053157922, + -445.093560120008, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -279.2311053157922, + -447.69163633136134, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -277.7311053157922, + -450.28971254271465, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -276.2311053157922, + -452.88778875406797, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -274.7311053157922, + -455.4858649654213, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -273.2311053157922, + -458.0839411767746, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -271.7311053157922, + -460.6820173881279, + 2.0873893280790696 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -270.2311053157922, + -463.28009359948123, + 2.0873893280790696 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-37-57_270744729/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-37-57_270744729/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b8ce2f827a9d772b730db11f30746548779d7799 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-37-57_270744729/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.0868874687012, + 273.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -790.0868874687012, + 270.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.0868874687012, + 267.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -790.0868874687012, + 264.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.0868874687012, + 261.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -790.0868874687012, + 258.2823498044406, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -790.0868874687012, + 255.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -790.0868874687012, + 252.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -790.0868874687012, + 249.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -790.0868874687012, + 246.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -790.0868874687012, + 243.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.0868874687012, + 240.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -790.0868874687012, + 237.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -790.0868874687012, + 234.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -790.0868874687012, + 231.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -790.0868874687012, + 228.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -790.0868874687012, + 225.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -790.0868874687012, + 222.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -790.0868874687012, + 219.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -790.0868874687012, + 216.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -790.0868874687012, + 213.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -790.0868874687012, + 210.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -790.0868874687012, + 207.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -790.0868874687012, + 204.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -790.0868874687012, + 201.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -790.0868874687012, + 198.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -790.0868874687012, + 195.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -790.0868874687012, + 192.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -790.0868874687012, + 189.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -790.0868874687012, + 186.28234980444063, + 1.6051916694362731 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -790.0868874687012, + 186.28234980444063, + 1.6051916694362731 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -790.0868874687012, + 186.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -787.4888112573478, + 184.78234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -784.8907350459945, + 183.28234980444063, + 1.6051916694362731 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -782.2926588346411, + 181.78234980444063, + 1.6051916694362731 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-26_352406219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-26_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8edaf604abb309ee6c3ed1a6b2c377989205dc79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-26_352406219/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 458.01166835395054, + 646.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 458.01166835395054, + 643.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 458.01166835395054, + 640.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 458.01166835395054, + 637.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 458.01166835395054, + 634.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 458.01166835395054, + 631.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 458.01166835395054, + 628.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 458.01166835395054, + 625.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 458.01166835395054, + 622.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 458.01166835395054, + 619.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 458.01166835395054, + 616.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 458.01166835395054, + 613.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 458.01166835395054, + 610.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 458.01166835395054, + 607.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.01166835395054, + 604.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 458.01166835395054, + 601.7589311703423, + 4.1331402484121185 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 458.01166835395054, + 601.7589311703423, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 456.51166835395054, + 599.1608549589889, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 455.01166835395054, + 596.5627787476355, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 453.51166835395054, + 593.9647025362822, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 452.01166835395054, + 591.3666263249288, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 450.51166835395054, + 588.7685501135754, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 449.01166835395054, + 586.170473902222, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 447.51166835395054, + 583.5723976908687, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 446.01166835395054, + 580.9743214795153, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 444.51166835395054, + 578.3762452681619, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 443.01166835395054, + 575.7781690568086, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 441.51166835395054, + 573.1800928454552, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 440.01166835395054, + 570.5820166341018, + 4.1331402484121185 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 440.01166835395054, + 570.5820166341018, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 440.01166835395054, + 567.5820166341018, + 4.1331402484121185 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 440.01166835395054, + 564.5820166341018, + 4.1331402484121185 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-58_160051528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-58_160051528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df94392a9fd353a0b0dc78224fe60fb675203de6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-42-58_160051528/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -902.8257574001536, + 158.58910866521347, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -904.3257574001536, + 161.1871848765668, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -905.8257574001536, + 163.7852610879201, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -907.3257574001536, + 166.38333729927342, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -908.8257574001536, + 168.98141351062674, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -910.3257574001536, + 171.57948972198005, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -911.8257574001536, + 174.17756593333337, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -913.3257574001536, + 176.77564214468669, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -914.8257574001536, + 179.37371835604, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -916.3257574001536, + 181.97179456739332, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -917.8257574001536, + 184.56987077874663, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -919.3257574001536, + 187.16794699009995, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -920.8257574001536, + 189.76602320145327, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -922.3257574001536, + 192.36409941280658, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -923.8257574001536, + 194.9621756241599, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -925.3257574001536, + 197.5602518355132, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -926.8257574001536, + 200.15832804686653, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -928.3257574001536, + 202.75640425821985, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -929.8257574001536, + 205.35448046957316, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -931.3257574001536, + 207.95255668092648, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -932.8257574001536, + 210.5506328922798, + 3.524226495984328 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -932.8257574001536, + 210.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -935.423833611507, + 212.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -938.0219098228604, + 213.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -940.6199860342138, + 215.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -943.2180622455671, + 216.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -945.8161384569205, + 218.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -948.4142146682739, + 219.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -951.0122908796272, + 221.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -953.6103670909806, + 222.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -956.208443302334, + 224.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -958.8065195136874, + 225.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -961.4045957250407, + 227.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -964.0026719363941, + 228.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -966.6007481477475, + 230.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -969.1988243591009, + 231.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -971.7969005704542, + 233.0506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -974.3949767818076, + 234.5506328922798, + 3.524226495984328 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -974.3949767818076, + 234.5506328922798, + 3.524226495984328 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -975.8949767818076, + 237.1487091036331, + 3.524226495984328 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-35_112805732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-35_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd39f69b1c25774178f15babc270f8ec7551a9df --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-43-35_112805732/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -290.98158831809565, + -403.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -293.57966452944896, + -401.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -296.1777407408023, + -400.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -298.7758169521556, + -398.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -301.3738931635089, + -397.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -303.9719693748622, + -395.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -306.57004558621554, + -394.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -309.16812179756886, + -392.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -311.7661980089222, + -391.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -314.3642742202755, + -389.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -316.9623504316288, + -388.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -319.5604266429821, + -386.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -322.15850285433544, + -385.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -324.75657906568875, + -383.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -327.35465527704207, + -382.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -329.9527314883954, + -380.95703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -332.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -332.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -335.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -338.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -341.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -344.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -347.5508076997487, + -379.45703328828756, + 2.4218986771468254 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-48-38_1622597488/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-48-38_1622597488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ad0f206b7925f0fb7671a49a6a2771643755657 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-48-38_1622597488/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -801.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -798.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -795.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -792.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -789.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -786.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -783.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -780.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -777.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -774.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -771.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -768.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -762.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -759.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -759.9601145138793, + 211.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.3620383025259, + 213.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.7639620911725, + 214.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -752.1658858798191, + 216.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -749.5678096684658, + 217.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -746.9697334571124, + 219.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -744.371657245759, + 220.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -741.7735810344057, + 222.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -739.1755048230523, + 223.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -736.5774286116989, + 225.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -733.9793524003455, + 226.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -731.3812761889922, + 228.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -728.7831999776388, + 229.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -726.1851237662854, + 231.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -723.587047554932, + 232.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -720.9889713435787, + 234.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -718.3908951322253, + 235.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -715.7928189208719, + 237.39194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.1947427095186, + 238.89194232950626, + 3.612035155502074 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -713.1947427095186, + 238.89194232950626, + 3.612035155502074 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -710.1947427095186, + 238.89194232950626, + 3.612035155502074 + ], + "type": "stop", + "value": 0, + "yaw": -9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-44_841148365/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-44_841148365/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2c48b231a108e994f397355a1f34bcb0a0f0dc7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-44_841148365/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 477.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 480.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 483.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 486.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 489.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 489.23910066213267, + 398.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 491.837176873486, + 399.9247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 494.4352530848393, + 401.4247516630781, + 2.3585974565539356 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.0333292961926, + 402.9247516630781, + 2.3585974565539356 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-52_1960709859/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-52_1960709859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16748201697148dc9d79c8d10f2dc9b552088769 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-52-52_1960709859/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -871.1615609725399, + 309.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -871.1615609725399, + 312.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -871.1615609725399, + 315.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -871.1615609725399, + 318.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -871.1615609725399, + 321.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -871.1615609725399, + 324.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -871.1615609725399, + 327.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -871.1615609725399, + 330.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -871.1615609725399, + 333.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -871.1615609725399, + 336.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -871.1615609725399, + 339.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -871.1615609725399, + 342.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -871.1615609725399, + 345.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -871.1615609725399, + 348.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -871.1615609725399, + 351.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -871.1615609725399, + 354.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -871.1615609725399, + 357.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -871.1615609725399, + 360.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -871.1615609725399, + 363.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -871.1615609725399, + 366.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -871.1615609725399, + 369.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -871.1615609725399, + 372.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -871.1615609725399, + 375.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -871.1615609725399, + 378.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -871.1615609725399, + 381.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -871.1615609725399, + 384.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -871.1615609725399, + 387.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -871.1615609725399, + 390.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -871.1615609725399, + 393.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -871.1615609725399, + 396.2328689311721, + -0.026900358854211603 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -871.1615609725399, + 396.2328689311721, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -872.6615609725399, + 398.8309451425254, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -874.1615609725399, + 401.42902135387874, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -875.6615609725399, + 404.02709756523205, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -877.1615609725399, + 406.62517377658537, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -878.6615609725399, + 409.2232499879387, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -880.1615609725399, + 411.821326199292, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -881.6615609725399, + 414.4194024106453, + -0.026900358854211603 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -883.1615609725399, + 417.01747862199863, + -0.026900358854211603 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-53-55_1244316437/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-53-55_1244316437/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..645648e37adefcd83fbd08963b7891bc1458afba --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-53-55_1244316437/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -942.4029860993928, + 449.24199622941137, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -939.4029860993928, + 449.24199622941137, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -936.4029860993928, + 449.24199622941137, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -933.4029860993928, + 449.24199622941137, + -1.2005386396923483 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -933.4029860993928, + 449.24199622941137, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -930.8049098880394, + 447.74199622941137, + -1.2005386396923483 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -930.8049098880394, + 447.74199622941137, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -929.3049098880394, + 445.14392001805805, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -927.8049098880394, + 442.54584380670474, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -926.3049098880394, + 439.9477675953514, + -1.2005386396923483 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -926.3049098880394, + 439.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -923.7068336766861, + 438.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -921.1087574653327, + 436.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -918.5106812539793, + 435.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -915.912605042626, + 433.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -913.3145288312726, + 432.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -910.7164526199192, + 430.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -908.1183764085658, + 429.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -905.5203001972125, + 427.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -902.9222239858591, + 426.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -900.3241477745057, + 424.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -897.7260715631523, + 423.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -895.127995351799, + 421.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -892.5299191404456, + 420.4477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -889.9318429290922, + 418.9477675953514, + -1.2005386396923483 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -887.3337667177389, + 417.4477675953514, + -1.2005386396923483 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-25_1432114613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-25_1432114613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ab37955f63f5192602c2f2f8109cd07d8e1879d2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-59-25_1432114613/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 171.89569653192333, + -397.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 171.89569653192333, + -394.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 171.89569653192333, + -391.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 171.89569653192333, + -388.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 171.89569653192333, + -385.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 171.89569653192333, + -382.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 171.89569653192333, + -379.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 171.89569653192333, + -376.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 171.89569653192333, + -373.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 171.89569653192333, + -370.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 171.89569653192333, + -367.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 171.89569653192333, + -364.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 171.89569653192333, + -361.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 171.89569653192333, + -358.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 171.89569653192333, + -355.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 171.89569653192333, + -352.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 171.89569653192333, + -349.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 171.89569653192333, + -346.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 171.89569653192333, + -343.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 171.89569653192333, + -340.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 171.89569653192333, + -337.5255721843538, + -4.774856748790268 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 171.89569653192333, + -337.5255721843538, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 170.39569653192333, + -334.9274959730005, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 168.89569653192333, + -332.32941976164716, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 167.39569653192333, + -329.73134355029384, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 165.89569653192333, + -327.1332673389405, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 164.39569653192333, + -324.5351911275872, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 162.89569653192333, + -321.9371149162339, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 161.39569653192333, + -319.3390387048806, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 159.89569653192333, + -316.74096249352726, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 158.39569653192333, + -314.14288628217395, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 156.89569653192333, + -311.54481007082063, + -4.774856748790268 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 156.89569653192333, + -311.54481007082063, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 156.89569653192333, + -308.54481007082063, + -4.774856748790268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 156.89569653192333, + -305.54481007082063, + -4.774856748790268 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-7-50_424238335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-7-50_424238335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2e18bbc7a7cb0f41f665fac16ba2c3bf0a18800 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_10-7-50_424238335/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -85.22299366377453, + -114.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -87.82106987512785, + -113.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -90.41914608648116, + -111.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -93.01722229783448, + -110.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -95.6152985091878, + -108.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -98.21337472054111, + -107.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -100.81145093189443, + -105.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -103.40952714324774, + -104.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -106.00760335460106, + -102.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -108.60567956595438, + -101.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -111.20375577730769, + -99.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -113.80183198866101, + -98.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -116.39990820001432, + -96.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -118.99798441136764, + -95.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -121.59606062272096, + -93.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.19413683407427, + -92.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -126.79221304542759, + -90.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -129.3902892567809, + -89.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -131.98836546813422, + -87.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -134.58644167948754, + -86.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -137.18451789084085, + -84.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -139.78259410219417, + -83.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -142.38067031354748, + -81.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -144.9787465249008, + -80.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -147.57682273625412, + -78.99781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -150.17489894760743, + -77.49781671780792, + 1.5568175736791527 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -150.17489894760743, + -77.49781671780792, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -151.67489894760743, + -74.8997405064546, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -153.17489894760743, + -72.30166429510129, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -154.67489894760743, + -69.70358808374797, + 1.5568175736791527 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -156.17489894760743, + -67.10551187239466, + 1.5568175736791527 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-1-25_1351797369/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-1-25_1351797369/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..049a44c8c3ef0dac5109660aededecc6afc69843 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-1-25_1351797369/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -601.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -604.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -607.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -610.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -613.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -616.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -619.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -622.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -625.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -628.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -631.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -634.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -640.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -643.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -661.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -664.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -667.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -670.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -673.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -676.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -679.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -682.881820917411, + 236.61651790810603, + -1.2750864662748755 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-10-17_1335354340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-10-17_1335354340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..904bcaf0cced5b7517bf1d4770c51c68380a067a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-10-17_1335354340/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 236.39601564502195, + 770.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 236.39601564502195, + 767.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 236.39601564502195, + 764.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.39601564502195, + 761.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 236.39601564502195, + 758.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 236.39601564502195, + 755.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 236.39601564502195, + 752.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 236.39601564502195, + 749.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 236.39601564502195, + 746.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 236.39601564502195, + 743.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 236.39601564502195, + 740.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 236.39601564502195, + 737.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 236.39601564502195, + 734.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 236.39601564502195, + 731.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 236.39601564502195, + 728.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 236.39601564502195, + 725.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 236.39601564502195, + 722.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 236.39601564502195, + 719.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 236.39601564502195, + 716.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 236.39601564502195, + 713.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.39601564502195, + 710.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 236.39601564502195, + 707.5445805859091, + 4.27972819674088 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 236.39601564502195, + 707.5445805859091, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 234.89601564502195, + 704.9465043745558, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 233.39601564502195, + 702.3484281632025, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 231.89601564502195, + 699.7503519518491, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 230.39601564502195, + 697.1522757404957, + 4.27972819674088 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 228.89601564502195, + 694.5541995291424, + 4.27972819674088 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-12-1_745425661/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-12-1_745425661/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e4265797586f311746dd9f7b28e3ce682abfb16e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-12-1_745425661/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -463.7041214896369, + 428.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -461.1060452782836, + 430.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -458.5079690669303, + 431.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -455.90989285557697, + 433.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -453.31181664422365, + 434.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -450.71374043287034, + 436.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -448.115664221517, + 437.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -445.5175880101637, + 439.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -442.9195117988104, + 440.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -440.3214355874571, + 442.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -437.72335937610376, + 443.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -435.12528316475044, + 445.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -432.5272069533971, + 446.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -429.9291307420438, + 448.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -427.3310545306905, + 449.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -424.7329783193372, + 451.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -422.13490210798386, + 452.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -419.53682589663055, + 454.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -416.93874968527723, + 455.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -414.3406734739239, + 457.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -411.7425972625706, + 458.7414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -409.1445210512173, + 460.2414664017192, + -1.5035857444597909 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -409.1445210512173, + 460.2414664017192, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -407.6445210512173, + 462.8395426130725, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -406.1445210512173, + 465.43761882442584, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -404.6445210512173, + 468.03569503577916, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -403.1445210512173, + 470.6337712471325, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -401.6445210512173, + 473.2318474584858, + -1.5035857444597909 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -400.1445210512173, + 475.8299236698391, + -1.5035857444597909 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-56_434248626/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-56_434248626/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8c5bcc7705349913136183128f70882cda74b46 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-13-56_434248626/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 196.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 199.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 202.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 205.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 208.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 211.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 214.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 217.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 220.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 223.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 226.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 229.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 232.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 238.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 241.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 244.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 247.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 250.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 253.08919743223802, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 256.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 259.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 262.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 265.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 268.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 271.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 274.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 277.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 277.08919743223805, + 683.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 279.68727364359137, + 681.7978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 282.2853498549447, + 680.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 284.883426066298, + 678.7978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 287.4815022776513, + 677.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 290.07957848900463, + 675.7978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 292.67765470035795, + 674.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 295.27573091171126, + 672.7978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 297.8738071230646, + 671.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 300.4718833344179, + 669.7978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 303.0699595457712, + 668.2978170679022, + -4.825956498939911 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 305.6680357571245, + 666.7978170679022, + -4.825956498939911 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-51_559412924/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-51_559412924/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3d7ea1d45b6e12d447d1081d6b9f5e2349c3a8c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-15-51_559412924/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -788.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -785.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -779.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -776.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -773.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -770.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -767.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -764.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -764.4175677759356, + 2.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -761.8194915645822, + 3.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -759.2214153532288, + 5.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -756.6233391418755, + 6.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.0252629305221, + 8.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -751.4271867191687, + 9.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -748.8291105078154, + 11.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -746.231034296462, + 12.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -743.6329580851086, + 14.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -741.0348818737552, + 15.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -738.4368056624019, + 17.130089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -735.8387294510485, + 18.630089693079686, + -3.2682171822403308 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.2406532396951, + 20.130089693079686, + -3.2682171822403308 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-24-29_1176911340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-24-29_1176911340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4dbb97d30dc138a2fc970660f24982789b0c9e17 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-24-29_1176911340/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -146.68795993654, + 435.35818107190903, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -145.18795993654, + 432.7601048605557, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -143.68795993654, + 430.1620286492024, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -142.18795993654, + 427.5639524378491, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -140.68795993654, + 424.96587622649577, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -139.18795993654, + 422.36780001514245, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -137.68795993654, + 419.76972380378913, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -136.18795993654, + 417.1716475924358, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -134.68795993654, + 414.5735713810825, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -133.18795993654, + 411.9754951697292, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -131.68795993654, + 409.37741895837587, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -130.18795993654, + 406.77934274702255, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -128.68795993654, + 404.18126653566924, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -127.18795993654001, + 401.5831903243159, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -125.68795993654001, + 398.9851141129626, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -124.18795993654001, + 396.3870379016093, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -122.68795993654001, + 393.788961690256, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -121.18795993654001, + 391.19088547890266, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -119.68795993654001, + 388.59280926754934, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -118.18795993654001, + 385.994733056196, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -116.68795993654001, + 383.3966568448427, + 2.757884343132919 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -115.18795993654001, + 380.7985806334894, + 2.757884343132919 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-34_995706887/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-34_995706887/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae009c956d095d25cb7b686881a530e4ef7f08e2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-27-34_995706887/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -932.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -938.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -944.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -947.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -950.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -953.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -956.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -959.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -962.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -965.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -968.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -971.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -974.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -977.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -980.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -983.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -986.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -986.7316880082532, + 284.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -989.3297642196064, + 283.29323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -991.9278404309598, + 281.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -994.5259166423132, + 280.29323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -997.1239928536666, + 278.79323510062005, + -1.4862155042812688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -999.7220690650199, + 277.29323510062005, + -1.4862155042812688 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-54_1096689772/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-54_1096689772/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee32970c4314ff14ed3044d2180c0ebd08c549aa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-54_1096689772/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -850.3169579739822, + -95.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -850.3169579739822, + -92.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -850.3169579739822, + -89.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -850.3169579739822, + -86.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -850.3169579739822, + -83.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -850.3169579739822, + -80.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -850.3169579739822, + -77.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -850.3169579739822, + -74.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -850.3169579739822, + -71.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -850.3169579739822, + -68.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -850.3169579739822, + -65.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -850.3169579739822, + -62.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -850.3169579739822, + -59.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -850.3169579739822, + -56.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -850.3169579739822, + -53.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -850.3169579739822, + -50.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -850.3169579739822, + -47.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -850.3169579739822, + -44.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -850.3169579739822, + -41.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -850.3169579739822, + -38.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -850.3169579739822, + -35.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -850.3169579739822, + -32.23995200750787, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -850.3169579739822, + -29.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -850.3169579739822, + -26.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -850.3169579739822, + -23.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -850.3169579739822, + -20.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -850.3169579739822, + -17.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -850.3169579739822, + -14.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -850.3169579739822, + -11.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -850.3169579739822, + -8.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -850.3169579739822, + -5.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -850.3169579739822, + -2.239952007507867, + -0.01448362432573802 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -850.3169579739822, + -2.239952007507867, + -0.01448362432573802 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -850.3169579739822, + -2.239952007507867, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -847.7188817626288, + -0.7399520075078672, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -845.1208055512755, + 0.7600479924921326, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -842.5227293399221, + 2.260047992492132, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982893 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -839.9246531285687, + 3.760047992492132, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -837.3265769172153, + 5.260047992492132, + -0.01448362432573802 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -837.3265769172153, + 5.260047992492132, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -835.8265769172153, + 7.858124203845448, + -0.01448362432573802 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -834.3265769172153, + 10.456200415198765, + -0.01448362432573802 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-6_1359512183/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-6_1359512183/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fba48c4a6539434948966edf496ebe6d3a01fb79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-3-6_1359512183/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -580.0863507589928, + 506.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -582.6844269703461, + 505.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -585.2825031816994, + 503.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -587.8805793930528, + 502.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -590.4786556044062, + 500.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -593.0767318157596, + 499.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.6748080271129, + 497.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.2728842384663, + 496.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.8709604498197, + 494.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -603.469036661173, + 493.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.0671128725264, + 491.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -608.6651890838798, + 490.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -611.2632652952332, + 488.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.8613415065865, + 487.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -616.4594177179399, + 485.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.0574939292933, + 484.4494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -621.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -621.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -624.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -627.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -630.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -633.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -636.6555701406467, + 482.9494122373668, + 3.744378801742151 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-32-57_1335939811/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-32-57_1335939811/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93b7d795e6e23b0b9b5b59089e72fbe1292d7731 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-32-57_1335939811/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -184.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -181.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -172.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -172.8780733987435, + 408.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.2799971873902, + 406.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -167.68192097603688, + 405.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -165.08384476468356, + 403.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -162.48576855333025, + 402.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -159.88769234197693, + 400.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -157.2896161306236, + 399.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -154.6915399192703, + 397.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -152.09346370791698, + 396.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -149.49538749656367, + 394.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.89731128521035, + 393.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -144.29923507385703, + 391.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.70115886250372, + 390.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -139.1030826511504, + 388.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -136.50500643979709, + 387.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -133.90693022844377, + 385.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -131.30885401709045, + 384.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.71077780573714, + 382.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -126.11270159438382, + 381.14729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -123.5146253830305, + 379.64729773092085, + -1.4671744632903843 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -123.5146253830305, + 379.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -120.5146253830305, + 379.64729773092085, + -1.4671744632903843 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -117.5146253830305, + 379.64729773092085, + -1.4671744632903843 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-46_2006811972/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-46_2006811972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..881f7dcd92e7c00a0df7651fd2e5ef4c6d19865f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-46_2006811972/pose.jsonl @@ -0,0 +1,157 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -921.4614693767181, + 396.0252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -924.0595455880714, + 394.5252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -926.6576217994248, + 393.0252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -929.2556980107781, + 391.5252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -931.8537742221315, + 390.0252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -934.4518504334849, + 388.5252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -937.0499266448383, + 387.0252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -939.6480028561916, + 385.5252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -942.246079067545, + 384.0252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -944.8441552788984, + 382.5252644862732, + 3.1643738132879413 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -947.4422314902517, + 381.0252644862732, + 3.1643738132879413 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-55_1253207672/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-55_1253207672/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7f97b150c135cab80cf7b89604f21c75e2acee4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-37-55_1253207672/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -657.5040817565139, + 155.35660647330167, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -659.0040817565139, + 157.95468268465498, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -660.5040817565139, + 160.5527588960083, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -662.0040817565139, + 163.15083510736162, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -663.5040817565139, + 165.74891131871493, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -665.0040817565139, + 168.34698753006825, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -666.5040817565139, + 170.94506374142156, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -668.0040817565139, + 173.54313995277488, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -669.5040817565139, + 176.1412161641282, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -671.0040817565139, + 178.7392923754815, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.5040817565139, + 181.33736858683483, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -674.0040817565139, + 183.93544479818814, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -675.5040817565139, + 186.53352100954146, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.0040817565139, + 189.13159722089478, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -678.5040817565139, + 191.7296734322481, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -680.0040817565139, + 194.3277496436014, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -681.5040817565139, + 196.92582585495472, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -683.0040817565139, + 199.52390206630804, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.5040817565139, + 202.12197827766136, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -686.0040817565139, + 204.72005448901467, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.5040817565139, + 207.318130700368, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -689.0040817565139, + 209.9162069117213, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -690.5040817565139, + 212.51428312307462, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -692.0040817565139, + 215.11235933442794, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -693.5040817565139, + 217.71043554578125, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -695.0040817565139, + 220.30851175713457, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -696.5040817565139, + 222.90658796848788, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.0040817565139, + 225.5046641798412, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -699.5040817565139, + 228.10274039119452, + 1.5861542154779817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.0040817565139, + 230.70081660254783, + 1.5861542154779817 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-4-39_1172755590/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-4-39_1172755590/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ecd52d0073189042c3201a5f2b02d5b17b3898b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-4-39_1172755590/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -668.9497582598003, + 160.0352345682041, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.4497582598003, + 162.6333107795574, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -671.9497582598003, + 165.23138699091072, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.4497582598003, + 167.82946320226404, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -674.9497582598003, + 170.42753941361735, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -676.4497582598003, + 173.02561562497067, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.9497582598003, + 175.62369183632399, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.4497582598003, + 178.2217680476773, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -680.9497582598003, + 180.81984425903062, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.4497582598003, + 183.41792047038393, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -683.9497582598003, + 186.01599668173725, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.4497582598003, + 188.61407289309057, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -686.9497582598003, + 191.21214910444388, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.4497582598003, + 193.8102253157972, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -689.9497582598003, + 196.4083015271505, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.4497582598003, + 199.00637773850383, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.9497582598003, + 201.60445394985715, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.4497582598003, + 204.20253016121046, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -695.9497582598003, + 206.80060637256378, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -697.4497582598003, + 209.3986825839171, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -698.9497582598003, + 211.9967587952704, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.4497582598003, + 214.59483500662373, + -0.8624645188652833 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.4497582598003, + 214.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -700.4497582598003, + 217.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -700.4497582598003, + 220.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -700.4497582598003, + 223.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -700.4497582598003, + 226.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -700.4497582598003, + 229.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.4497582598003, + 232.59483500662373, + -0.8624645188652833 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.4497582598003, + 235.59483500662373, + -0.8624645188652833 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-40-39_915256190/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-40-39_915256190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..36f82bfd83c4df79d8cae068884541df3e37d721 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-40-39_915256190/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -838.166445128069, + 368.9113897680104, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -836.666445128069, + 366.3133135566571, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -835.166445128069, + 363.71523734530376, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -833.666445128069, + 361.11716113395045, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -832.166445128069, + 358.51908492259713, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -830.666445128069, + 355.9210087112438, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -829.166445128069, + 353.3229324998905, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -827.666445128069, + 350.7248562885372, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -826.166445128069, + 348.12678007718387, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -824.666445128069, + 345.52870386583055, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -823.166445128069, + 342.93062765447723, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -821.666445128069, + 340.3325514431239, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -820.166445128069, + 337.7344752317706, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -818.666445128069, + 335.1363990204173, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -817.166445128069, + 332.53832280906397, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -815.666445128069, + 329.94024659771065, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -814.166445128069, + 327.34217038635734, + 2.562055832795905 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -814.166445128069, + 327.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -814.166445128069, + 324.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -814.166445128069, + 321.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -814.166445128069, + 318.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -814.166445128069, + 315.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -814.166445128069, + 312.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -814.166445128069, + 309.34217038635734, + 2.562055832795905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -814.166445128069, + 306.34217038635734, + 2.562055832795905 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-41-23_524688209/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-41-23_524688209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7ab879562a20af3c04f2862147256ddfae1f64a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-41-23_524688209/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -723.4531586244653, + 197.01338491737448, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.9531586244653, + 199.6114611287278, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -720.4531586244653, + 202.2095373400811, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -718.9531586244653, + 204.80761355143443, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -717.4531586244653, + 207.40568976278774, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -715.9531586244653, + 210.00376597414106, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.4531586244653, + 212.60184218549438, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.9531586244653, + 215.1999183968477, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -711.4531586244653, + 217.797994608201, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -709.9531586244653, + 220.39607081955432, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.4531586244653, + 222.99414703090764, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.9531586244653, + 225.59222324226096, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -705.4531586244653, + 228.19029945361427, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -703.9531586244653, + 230.7883756649676, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.4531586244653, + 233.3864518763209, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -700.9531586244653, + 235.98452808767422, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -699.4531586244653, + 238.58260429902754, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -697.9531586244653, + 241.18068051038085, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -696.4531586244653, + 243.77875672173417, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.9531586244653, + 246.37683293308748, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.4531586244653, + 248.9749091444408, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -691.9531586244653, + 251.57298535579412, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -690.4531586244653, + 254.17106156714743, + 4.8080778980124315 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.9531586244653, + 256.76913777850075, + 4.8080778980124315 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-44-20_630668850/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-44-20_630668850/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c813be173d360284b6d1456432a0e9583cfc613e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-44-20_630668850/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 155.56963806660707, + 595.6086693449226, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 157.06963806660707, + 598.206745556276, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 158.56963806660707, + 600.8048217676294, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 160.06963806660707, + 603.4028979789828, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 161.56963806660707, + 606.0009741903361, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 163.06963806660707, + 608.5990504016895, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 164.56963806660707, + 611.1971266130429, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 166.06963806660707, + 613.7952028243963, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 167.56963806660707, + 616.3932790357496, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 169.06963806660707, + 618.991355247103, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 170.56963806660707, + 621.5894314584564, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 172.06963806660707, + 624.1875076698097, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 173.56963806660707, + 626.7855838811631, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 175.06963806660707, + 629.3836600925165, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 176.56963806660707, + 631.9817363038699, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 178.06963806660707, + 634.5798125152232, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 179.56963806660707, + 637.1778887265766, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 181.06963806660707, + 639.77596493793, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 182.56963806660707, + 642.3740411492834, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 184.06963806660707, + 644.9721173606367, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 185.56963806660707, + 647.5701935719901, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 187.06963806660707, + 650.1682697833435, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 188.56963806660707, + 652.7663459946968, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 190.06963806660707, + 655.3644222060502, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 191.56963806660707, + 657.9624984174036, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 193.06963806660707, + 660.560574628757, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 194.56963806660707, + 663.1586508401103, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 196.06963806660707, + 665.7567270514637, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 197.56963806660707, + 668.3548032628171, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 199.06963806660707, + 670.9528794741705, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 200.56963806660707, + 673.5509556855238, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 202.06963806660707, + 676.1490318968772, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 203.56963806660707, + 678.7471081082306, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 205.06963806660707, + 681.345184319584, + -4.269196096353127 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 205.06963806660707, + 681.345184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 207.66771427796039, + 682.845184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 210.2657904893137, + 684.345184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 212.86386670066702, + 685.845184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 215.46194291202033, + 687.345184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 218.06001912337365, + 688.845184319584, + -4.269196096353127 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 220.65809533472697, + 690.345184319584, + -4.269196096353127 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-48-40_282828202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-48-40_282828202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f3e8c79204708a05d0bece1a3f739a4b7f9c81a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-48-40_282828202/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -774.7261682732358, + 196.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -772.1280920618824, + 198.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -769.530015850529, + 199.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -766.9319396391757, + 201.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -764.3338634278223, + 202.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -761.7357872164689, + 204.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -759.1377110051155, + 205.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -756.5396347937622, + 207.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.9415585824088, + 208.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -751.3434823710554, + 210.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -748.745406159702, + 211.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -746.1473299483487, + 213.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -743.5492537369953, + 214.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.9511775256419, + 216.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -738.3531013142886, + 217.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -735.7550251029352, + 219.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -733.1569488915818, + 220.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -730.5588726802284, + 222.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.9607964688751, + 223.56893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -725.3627202575217, + 225.06893083441454, + -2.1924826860140874 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -722.7646440461683, + 226.56893083441454, + -2.1924826860140874 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-32_1676902021/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-32_1676902021/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77b4523c7bbd2e5fdfaeeb99afe2b937d96b1391 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-49-32_1676902021/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -507.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -504.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -501.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -498.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -495.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -492.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -489.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -486.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -483.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -480.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -477.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -474.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -471.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -468.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -465.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -462.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -459.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -456.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -453.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -453.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -453.4894362860163, + -150.7412315885842, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -451.9894362860163, + -153.33930779993753, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -450.4894362860163, + -155.93738401129085, + -0.4924606195327472 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -448.9894362860163, + -158.53546022264416, + -0.4924606195327472 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-56_1137949908/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-56_1137949908/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23652d2b9fb19da310d24761d57692b21013343e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-56_1137949908/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -169.75498394346576, + -321.1343133018894, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -171.25498394346576, + -323.7323895132427, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -172.75498394346576, + -326.330465724596, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.25498394346576, + -328.92854193594934, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.75498394346576, + -331.52661814730266, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -177.25498394346576, + -334.124694358656, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -178.75498394346576, + -336.7227705700093, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -180.25498394346576, + -339.3208467813626, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -181.75498394346576, + -341.9189229927159, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -183.25498394346576, + -344.51699920406924, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -184.75498394346576, + -347.11507541542255, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -186.25498394346576, + -349.71315162677587, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -187.75498394346576, + -352.3112278381292, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -189.25498394346576, + -354.9093040494825, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -190.75498394346576, + -357.5073802608358, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -192.25498394346576, + -360.10545647218913, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -193.75498394346576, + -362.70353268354245, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -195.25498394346576, + -365.30160889489576, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -196.75498394346576, + -367.8996851062491, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -198.25498394346576, + -370.4977613176024, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -199.75498394346576, + -373.0958375289557, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -201.25498394346576, + -375.69391374030903, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -202.75498394346576, + -378.29198995166234, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -204.25498394346576, + -380.89006616301566, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -205.75498394346576, + -383.488142374369, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -207.25498394346576, + -386.0862185857223, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -208.75498394346576, + -388.6842947970756, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -210.25498394346576, + -391.2823710084289, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -211.75498394346576, + -393.88044721978224, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -213.25498394346576, + -396.47852343113556, + 2.869105208936835 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -213.25498394346576, + -396.47852343113556, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -213.25498394346576, + -399.47852343113556, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -213.25498394346576, + -402.47852343113556, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -213.25498394346576, + -405.47852343113556, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -213.25498394346576, + -408.47852343113556, + 2.869105208936835 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -213.25498394346576, + -411.47852343113556, + 2.869105208936835 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-7_255789528/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-7_255789528/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..070a30d8857124925b5984f217acc607df08c5c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-50-7_255789528/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -989.8044889392518, + 403.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -989.8044889392518, + 400.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -989.8044889392518, + 397.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -989.8044889392518, + 394.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -989.8044889392518, + 391.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -989.8044889392518, + 388.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -989.8044889392518, + 385.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -989.8044889392518, + 382.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -989.8044889392518, + 379.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -989.8044889392518, + 376.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -989.8044889392518, + 373.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -989.8044889392518, + 370.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -989.8044889392518, + 367.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -989.8044889392518, + 364.4739142539148, + -4.415901962324051 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -989.8044889392518, + 364.4739142539148, + -4.415901962324051 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -989.8044889392518, + 364.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -992.4025651506051, + 362.9739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -995.0006413619585, + 361.4739142539148, + -4.415901962324051 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -997.5987175733119, + 359.9739142539148, + -4.415901962324051 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-51-13_1277849958/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-51-13_1277849958/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..075e02028bdccced28fdac49bbeaa586cc8369fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-51-13_1277849958/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -796.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -793.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -787.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -784.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -781.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -778.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -775.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -772.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -769.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -766.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.1105194382403, + -8.247468407100929, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -761.6105194382403, + -5.6493921957476125, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -760.1105194382403, + -3.0513159843942965, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -758.6105194382403, + -0.4532397730409805, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -757.1105194382403, + 2.1448364383123355, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -755.6105194382403, + 4.7429126496656515, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -754.1105194382403, + 7.3409888610189675, + 2.250532977577759 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -754.1105194382403, + 7.3409888610189675, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.512443226887, + 8.840988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -748.9143670155336, + 10.340988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -746.3162908041802, + 11.840988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -743.7182145928268, + 13.340988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -741.1201383814735, + 14.840988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -738.5220621701201, + 16.340988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -735.9239859587667, + 17.840988861018968, + 2.250532977577759 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -735.9239859587667, + 17.840988861018968, + 2.250532977577759 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.4239859587667, + 20.439065072372284, + 2.250532977577759 + ], + "type": "stop", + "value": 0, + "yaw": 1.047197551196588 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-10_1023457753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-10_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..30c3f40834d55f15595779ec55b182c94339c076 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-10_1023457753/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 36.165189384743535, + 69.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 36.165189384743535, + 72.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 36.165189384743535, + 75.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 36.165189384743535, + 78.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 36.165189384743535, + 81.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 36.165189384743535, + 84.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 36.165189384743535, + 87.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 36.165189384743535, + 90.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 36.165189384743535, + 93.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 36.165189384743535, + 96.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 36.165189384743535, + 99.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.165189384743535, + 102.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 36.165189384743535, + 105.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 36.165189384743535, + 108.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 36.165189384743535, + 111.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 36.165189384743535, + 114.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 36.165189384743535, + 117.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 36.165189384743535, + 120.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 36.165189384743535, + 123.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 36.165189384743535, + 126.81364692197336, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 36.165189384743535, + 129.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 36.165189384743535, + 132.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 36.165189384743535, + 135.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 36.165189384743535, + 138.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.165189384743535, + 141.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 36.165189384743535, + 144.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 36.165189384743535, + 147.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 36.165189384743535, + 150.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 36.165189384743535, + 153.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 36.165189384743535, + 156.81364692197337, + -1.879787326718466 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 36.165189384743535, + 159.81364692197337, + -1.879787326718466 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-57_1129033333/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-57_1129033333/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2dbbac9991cd7eb0c24846f605e721c5f139a6ed --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-52-57_1129033333/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -779.1853006623611, + -44.16211776868049, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.6853006623611, + -41.56404155732717, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -782.1853006623611, + -38.965965345973856, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -783.6853006623611, + -36.36788913462054, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -785.1853006623611, + -33.769812923267224, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -786.6853006623611, + -31.17173671191391, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -788.1853006623611, + -28.573660500560592, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.6853006623611, + -25.975584289207276, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -791.1853006623611, + -23.37750807785396, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -792.6853006623611, + -20.779431866500644, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -794.1853006623611, + -18.18135565514733, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -795.6853006623611, + -15.583279443794012, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -797.1853006623611, + -12.985203232440696, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -798.6853006623611, + -10.38712702108738, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.1853006623611, + -7.789050809734064, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -801.6853006623611, + -5.190974598380748, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -803.1853006623611, + -2.5928983870274322, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -804.6853006623611, + 0.005177824325883762, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -806.1853006623611, + 2.6032540356791998, + -4.790343951691421 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -806.1853006623611, + 2.6032540356791998, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -808.7833768737144, + 4.1032540356792, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -811.3814530850677, + 5.6032540356792, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -813.9795292964211, + 7.1032540356792, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -816.5776055077745, + 8.6032540356792, + -4.790343951691421 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -819.1756817191279, + 10.1032540356792, + -4.790343951691421 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-57-31_1415505363/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-57-31_1415505363/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a720d8a523fed2237eae49752d920300737db0d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-57-31_1415505363/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -530.4228887517919, + -105.92216261839582, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -528.9228887517919, + -108.52023882974913, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -527.4228887517919, + -111.11831504110245, + -0.41934214529829106 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -527.4228887517919, + -111.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -524.8248125404386, + -112.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -522.2267363290853, + -114.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -519.6286601177319, + -115.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -517.0305839063785, + -117.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -514.4325076950252, + -118.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -511.83443148367184, + -120.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -509.2363552723185, + -121.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -506.6382790609652, + -123.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -504.0402028496119, + -124.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -501.44212663825857, + -126.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -498.84405042690526, + -127.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -496.24597421555194, + -129.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -493.6478980041986, + -130.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -491.0498217928453, + -132.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -488.451745581492, + -133.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -485.8536693701387, + -135.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -483.25559315878536, + -136.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -480.65751694743204, + -138.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -478.0594407360787, + -139.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -475.4613645247254, + -141.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -472.8632883133721, + -142.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -470.2652121020188, + -144.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -467.66713589066546, + -145.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -465.06905967931215, + -147.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -462.47098346795883, + -148.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -459.8729072566055, + -150.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -457.2748310452522, + -151.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -454.6767548338989, + -153.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -452.07867862254557, + -154.61831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -449.48060241119225, + -156.11831504110245, + -0.41934214529829106 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -446.88252619983894, + -157.61831504110245, + -0.41934214529829106 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-27_722308542/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-27_722308542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8f3f564536235adb2da3bc7f1f0e38cc04aafa27 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_11-6-27_722308542/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.6178101780075, + -534.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -343.0197339666542, + -532.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -340.4216577553009, + -531.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.82358154394757, + -529.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -335.22550533259425, + -528.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -332.62742912124094, + -526.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -330.0293529098876, + -525.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -327.4312766985343, + -523.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -324.833200487181, + -522.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -322.2351242758277, + -520.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -319.63704806447436, + -519.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -317.03897185312104, + -517.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -314.4408956417677, + -516.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -311.8428194304144, + -514.7141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -309.2447432190611, + -513.2141988193387, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -306.6466670077078, + -511.71419881933866, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.04859079635446, + -510.21419881933866, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -301.45051458500114, + -508.71419881933866, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -298.85243837364783, + -507.21419881933866, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -296.2543621622945, + -505.71419881933866, + 4.597533085848628 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -296.2543621622945, + -505.71419881933866, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -294.7543621622945, + -503.11612260798535, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -293.2543621622945, + -500.51804639663203, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -291.7543621622945, + -497.9199701852787, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -290.2543621622945, + -495.3218939739254, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -288.7543621622945, + -492.7238177625721, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -287.2543621622945, + -490.12574155121877, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -285.7543621622945, + -487.52766533986545, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -284.2543621622945, + -484.92958912851213, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -282.7543621622945, + -482.3315129171588, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -281.2543621622945, + -479.7334367058055, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -279.7543621622945, + -477.1353604944522, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -278.2543621622945, + -474.53728428309887, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -276.7543621622945, + -471.93920807174555, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -275.2543621622945, + -469.34113186039224, + 4.597533085848628 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -273.7543621622945, + -466.7430556490389, + 4.597533085848628 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-37_1957747793/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-37_1957747793/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1017f4363ee6126b26a175a6872d465918db016 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-37_1957747793/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -247.82831387220276, + -547.0214943086695, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -249.32831387220276, + -544.4234180973162, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -250.82831387220276, + -541.8253418859629, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -252.32831387220276, + -539.2272656746095, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -253.82831387220276, + -536.6291894632561, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -255.32831387220276, + -534.0311132519028, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -256.8283138722027, + -531.4330370405494, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393178 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -258.3283138722027, + -528.834960829196, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -259.8283138722027, + -526.2368846178426, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -261.3283138722027, + -523.6388084064893, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -262.8283138722027, + -521.0407321951359, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -264.3283138722027, + -518.4426559837825, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -265.8283138722027, + -515.8445797724291, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -267.3283138722027, + -513.2465035610758, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -268.8283138722027, + -510.64842734972245, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -270.3283138722027, + -508.05035113836914, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.8283138722027, + -505.4522749270158, + 4.307142977329713 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -271.8283138722027, + -505.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -271.8283138722027, + -502.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -271.8283138722027, + -499.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -271.8283138722027, + -496.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -271.8283138722027, + -493.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -271.8283138722027, + -490.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -271.8283138722027, + -487.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -271.8283138722027, + -484.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -271.8283138722027, + -481.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -271.8283138722027, + -478.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -271.8283138722027, + -475.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -271.8283138722027, + -472.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -271.8283138722027, + -469.4522749270158, + 4.307142977329713 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -271.8283138722027, + -466.4522749270158, + 4.307142977329713 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-6_1681692777/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-6_1681692777/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd3b396cdf7406dda4ee462c8a4333d6e5f99f25 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-1-6_1681692777/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -143.510782785242, + 467.6680394195696, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -142.010782785242, + 465.0699632082163, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -140.510782785242, + 462.47188699686296, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -139.010782785242, + 459.87381078550965, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -137.510782785242, + 457.27573457415633, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -136.010782785242, + 454.677658362803, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -134.510782785242, + 452.0795821514497, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -133.010782785242, + 449.4815059400964, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -131.510782785242, + 446.88342972874307, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -130.010782785242, + 444.28535351738975, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -128.510782785242, + 441.68727730603644, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -127.01078278524199, + 439.0892010946831, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -125.51078278524199, + 436.4911248833298, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -124.01078278524199, + 433.8930486719765, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -122.51078278524199, + 431.29497246062317, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -121.01078278524199, + 428.69689624926986, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -119.51078278524199, + 426.09882003791654, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -118.01078278524199, + 423.5007438265632, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -116.51078278524199, + 420.9026676152099, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -115.01078278524199, + 418.3045914038566, + 2.007632190455361 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -115.01078278524199, + 418.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -115.01078278524199, + 415.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -115.01078278524199, + 412.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -115.01078278524199, + 409.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -115.01078278524199, + 406.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -115.01078278524199, + 403.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -115.01078278524199, + 400.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -115.01078278524199, + 397.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -115.01078278524199, + 394.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -115.01078278524199, + 391.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -115.01078278524199, + 388.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -115.01078278524199, + 385.3045914038566, + 2.007632190455361 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -115.01078278524199, + 382.3045914038566, + 2.007632190455361 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-11-42_1914544919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-11-42_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..59e45c8b6fd9f7a860e9999c0fc8a3a71c36979b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-11-42_1914544919/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.8749266749894, + -229.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -587.4730028863428, + -228.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -590.0710790976962, + -226.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -592.6691553090495, + -225.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -595.2672315204029, + -223.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -597.8653077317563, + -222.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -600.4633839431096, + -220.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -603.061460154463, + -219.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -605.6595363658164, + -217.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -608.2576125771698, + -216.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -610.8556887885231, + -214.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -613.4537649998765, + -213.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -616.0518412112299, + -211.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -618.6499174225833, + -210.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -621.2479936339366, + -208.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -623.84606984529, + -207.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -626.4441460566434, + -205.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -629.0422222679967, + -204.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.6402984793501, + -202.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -634.2383746907035, + -201.20746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -636.8364509020569, + -199.70746396544715, + 0.8194791433359327 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.8364509020569, + -199.70746396544715, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.3364509020569, + -197.10938775409383, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.8364509020569, + -194.51131154274051, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -641.3364509020569, + -191.9132353313872, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.8364509020569, + -189.31515912003388, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -644.3364509020569, + -186.71708290868057, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -645.8364509020569, + -184.11900669732725, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -647.3364509020569, + -181.52093048597393, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -648.8364509020569, + -178.92285427462062, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -650.3364509020569, + -176.3247780632673, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -651.8364509020569, + -173.726701851914, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -653.3364509020569, + -171.12862564056067, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -654.8364509020569, + -168.53054942920735, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -656.3364509020569, + -165.93247321785404, + 0.8194791433359327 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -657.8364509020569, + -163.33439700650072, + 0.8194791433359327 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-44_1973594324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-44_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58a9b169e69ce52d276ea260b33df1d8591c52fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-12-44_1973594324/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -301.8398749006436, + -188.42790308321085, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -303.3398749006436, + -191.02597929456417, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -304.8398749006436, + -193.62405550591748, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -306.3398749006436, + -196.2221317172708, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -307.8398749006436, + -198.82020792862411, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -309.3398749006436, + -201.41828413997743, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -310.8398749006436, + -204.01636035133075, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -312.3398749006436, + -206.61443656268406, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.8398749006436, + -209.21251277403738, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -315.3398749006436, + -211.8105889853907, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -316.8398749006436, + -214.408665196744, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -318.3398749006436, + -217.00674140809733, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -319.8398749006436, + -219.60481761945064, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -321.3398749006436, + -222.20289383080396, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -322.8398749006436, + -224.80097004215727, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -324.3398749006436, + -227.3990462535106, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -325.8398749006436, + -229.9971224648639, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -327.3398749006436, + -232.59519867621722, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -328.8398749006436, + -235.19327488757054, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -330.3398749006436, + -237.79135109892385, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -331.8398749006436, + -240.38942731027717, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -333.3398749006436, + -242.9875035216305, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -334.8398749006436, + -245.5855797329838, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -336.3398749006436, + -248.18365594433712, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -337.8398749006436, + -250.78173215569043, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -339.3398749006436, + -253.37980836704375, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -340.8398749006436, + -255.97788457839707, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -342.3398749006436, + -258.5759607897504, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393191 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -343.8398749006436, + -261.1740370011037, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -345.3398749006436, + -263.77211321245704, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -346.8398749006436, + -266.37018942381036, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -348.3398749006436, + -268.9682656351637, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -349.8398749006436, + -271.566341846517, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -351.3398749006436, + -274.1644180578703, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -352.8398749006436, + -276.7624942692236, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -354.3398749006436, + -279.36057048057694, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -355.8398749006436, + -281.95864669193026, + -2.1415710425385552 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -357.3398749006436, + -284.55672290328357, + -2.1415710425385552 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-16-54_1827336327/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-16-54_1827336327/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03ac60afe526104a414598536e4b097cdb6a9bc0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-16-54_1827336327/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -604.2400610368911, + 124.00469847318848, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -602.7400610368911, + 126.6027746845418, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -601.2400610368911, + 129.20085089589512, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -599.7400610368911, + 131.79892710724843, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -598.2400610368911, + 134.39700331860175, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -596.7400610368911, + 136.99507952995506, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.2400610368911, + 139.59315574130838, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -593.7400610368911, + 142.1912319526617, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -592.2400610368911, + 144.789308164015, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -590.7400610368911, + 147.38738437536833, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -589.2400610368911, + 149.98546058672164, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -587.7400610368911, + 152.58353679807496, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -586.2400610368911, + 155.18161300942828, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -584.7400610368911, + 157.7796892207816, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -583.2400610368911, + 160.3777654321349, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -581.7400610368911, + 162.97584164348822, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -580.2400610368911, + 165.57391785484154, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -578.7400610368911, + 168.17199406619486, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -577.2400610368911, + 170.77007027754817, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -575.7400610368911, + 173.3681464889015, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -574.2400610368911, + 175.9662227002548, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -572.7400610368911, + 178.56429891160812, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -571.2400610368911, + 181.16237512296144, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -569.7400610368911, + 183.76045133431475, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -568.2400610368911, + 186.35852754566807, + 3.5373260530051454 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -568.2400610368911, + 186.35852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -565.6419848255377, + 187.85852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -563.0439086141844, + 189.35852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -560.445832402831, + 190.85852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -557.8477561914776, + 192.35852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -555.2496799801243, + 193.85852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -552.6516037687709, + 195.35852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -550.0535275574175, + 196.85852754566807, + 3.5373260530051454 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -547.4554513460641, + 198.35852754566807, + 3.5373260530051454 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-17-47_805750846/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-17-47_805750846/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da86f3f5f6d7e83785688a17fcfb5b7ca1acdb36 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-17-47_805750846/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -628.874098959054, + 312.8497618280294, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.374098959054, + 310.25168561667607, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -631.874098959054, + 307.65360940532275, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -633.374098959054, + 305.05553319396944, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.874098959054, + 302.4574569826161, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -636.374098959054, + 299.8593807712628, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -637.874098959054, + 297.2613045599095, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.374098959054, + 294.6632283485562, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -640.874098959054, + 292.06515213720286, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -642.374098959054, + 289.46707592584954, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -643.874098959054, + 286.8689997144962, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -645.374098959054, + 284.2709235031429, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -646.874098959054, + 281.6728472917896, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.374098959054, + 279.0747710804363, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -649.874098959054, + 276.47669486908296, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -651.374098959054, + 273.87861865772965, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -652.874098959054, + 271.28054244637633, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.374098959054, + 268.682466235023, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.874098959054, + 266.0843900236697, + 3.2775796869362015 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -655.874098959054, + 266.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.4721751704074, + 264.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -661.0702513817607, + 263.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.6683275931141, + 261.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -666.2664038044675, + 260.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -668.8644800158208, + 258.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.4625562271742, + 257.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -674.0606324385276, + 255.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -676.658708649881, + 254.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.2567848612343, + 252.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -681.8548610725877, + 251.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -684.4529372839411, + 249.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.0510134952945, + 248.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -689.6490897066478, + 246.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -692.2471659180012, + 245.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -694.8452421293546, + 243.5843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -697.443318340708, + 242.0843900236697, + 3.2775796869362015 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -700.0413945520613, + 240.5843900236697, + 3.2775796869362015 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-19-36_2001100545/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-19-36_2001100545/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3b0c68449e55b005f926ad29ab5b68f0b8e201a3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-19-36_2001100545/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -788.3830001387572, + 67.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.3830001387572, + 70.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -788.3830001387572, + 73.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.3830001387572, + 76.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -788.3830001387572, + 79.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -788.3830001387572, + 82.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -788.3830001387572, + 85.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -788.3830001387572, + 88.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -788.3830001387572, + 91.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -788.3830001387572, + 94.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -788.3830001387572, + 97.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -788.3830001387572, + 100.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.3830001387572, + 103.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -788.3830001387572, + 106.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -788.3830001387572, + 109.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -788.3830001387572, + 112.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -788.3830001387572, + 115.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -788.3830001387572, + 118.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -788.3830001387572, + 121.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -788.3830001387572, + 124.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -788.3830001387572, + 127.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.3830001387572, + 130.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -788.3830001387572, + 133.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -788.3830001387572, + 136.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -788.3830001387572, + 139.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -788.3830001387572, + 142.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -788.3830001387572, + 145.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -788.3830001387572, + 148.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -788.3830001387572, + 151.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -788.3830001387572, + 154.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -788.3830001387572, + 157.39795537365129, + -4.388889690009108 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -788.3830001387572, + 157.39795537365129, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -786.8830001387572, + 159.9960315850046, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -785.3830001387572, + 162.59410779635792, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -783.8830001387572, + 165.19218400771123, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -782.3830001387572, + 167.79026021906455, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -780.8830001387572, + 170.38833643041787, + -4.388889690009108 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -780.8830001387572, + 170.38833643041787, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -780.8830001387572, + 173.38833643041787, + -4.388889690009108 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -780.8830001387572, + 176.38833643041787, + -4.388889690009108 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-40_752392754/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-40_752392754/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53ed00fd690659378393f92252c9d588fe4f482e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-23-40_752392754/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -91.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -88.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -85.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -82.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -79.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -76.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -73.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -70.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -67.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -64.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -61.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -58.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -55.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -52.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -49.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -46.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -43.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -40.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -37.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -34.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -28.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -25.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -22.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -19.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -19.84115275095806, + 684.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -17.243076539604743, + 686.3865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -14.645000328251427, + 687.8865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -12.046924116898111, + 689.3865316920223, + 0.8789526953831306 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -9.448847905544795, + 690.8865316920223, + 0.8789526953831306 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-24-15_2053999932/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-24-15_2053999932/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c04d44698d7ca5f4ebdba732831e878000e5dfd5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-24-15_2053999932/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -625.4623968632117, + -21.77755124935213, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -628.0604730745649, + -20.27755124935213, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -630.6585492859183, + -18.77755124935213, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -633.2566254972717, + -17.27755124935213, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -635.854701708625, + -15.777551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -638.4527779199784, + -14.277551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -641.0508541313318, + -12.777551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -643.6489303426852, + -11.277551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -646.2470065540385, + -9.777551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -648.8450827653919, + -8.277551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -651.4431589767453, + -6.777551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -654.0412351880987, + -5.277551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -656.639311399452, + -3.777551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -659.2373876108054, + -2.277551249352129, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -661.8354638221588, + -0.7775512493521293, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -664.4335400335121, + 0.7224487506478705, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -667.0316162448655, + 2.22244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -669.6296924562189, + 3.72244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -672.2277686675723, + 5.22244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -674.8258448789256, + 6.72244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -677.423921090279, + 8.22244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -680.0219973016324, + 9.72244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -682.6200735129858, + 11.22244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -685.2181497243391, + 12.72244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.8162259356925, + 14.22244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -690.4143021470459, + 15.72244875064787, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.0123783583992, + 17.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -695.6104545697526, + 18.722448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -698.208530781106, + 20.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -700.8066069924594, + 21.722448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -703.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -703.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -712.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -715.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -718.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -721.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -724.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -727.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -730.4046832038127, + 23.222448750647867, + 3.02629153811003 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-3-47_783368690/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-3-47_783368690/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a59fca53f34d78812388a6c3c760d35b9555e152 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-3-47_783368690/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.734908030887, + 176.18032735028436, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -762.234908030887, + 178.77840356163767, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -760.734908030887, + 181.376479772991, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -759.234908030887, + 183.9745559843443, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -757.734908030887, + 186.57263219569762, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.234908030887, + 189.17070840705094, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -754.734908030887, + 191.76878461840425, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -753.234908030887, + 194.36686082975757, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -751.734908030887, + 196.9649370411109, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -750.234908030887, + 199.5630132524642, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -748.734908030887, + 202.16108946381752, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -747.234908030887, + 204.75916567517083, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -745.734908030887, + 207.35724188652415, + 2.662453675604808 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.734908030887, + 207.35724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -743.1368318195337, + 208.85724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -740.5387556081803, + 210.35724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -737.9406793968269, + 211.85724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -735.3426031854735, + 213.35724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -732.7445269741202, + 214.85724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -730.1464507627668, + 216.35724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -727.5483745514134, + 217.85724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -724.95029834006, + 219.35724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -722.3522221287067, + 220.85724188652415, + 2.662453675604808 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.7541459173533, + 222.35724188652415, + 2.662453675604808 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-36_402724286/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-36_402724286/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41b77c0740643121432c27d5317a7b110da90c44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-30-36_402724286/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -203.52134610448613, + -105.41487664237454, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -205.02134610448613, + -102.81680043102122, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -206.52134610448613, + -100.2187242196679, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -208.02134610448613, + -97.62064800831459, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -209.52134610448613, + -95.02257179696127, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -211.02134610448613, + -92.42449558560796, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -212.52134610448613, + -89.82641937425464, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -214.02134610448613, + -87.22834316290133, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -215.52134610448613, + -84.63026695154801, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -217.02134610448613, + -82.0321907401947, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -218.52134610448613, + -79.43411452884138, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -220.02134610448613, + -76.83603831748806, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -221.52134610448613, + -74.23796210613474, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.02134610448613, + -71.63988589478143, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -224.52134610448613, + -69.04180968342811, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -226.02134610448613, + -66.4437334720748, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -227.52134610448613, + -63.84565726072148, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -229.02134610448613, + -61.247581049368165, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -230.52134610448613, + -58.64950483801485, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -232.02134610448613, + -56.05142862666153, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -233.52134610448613, + -53.45335241530822, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -235.02134610448613, + -50.8552762039549, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -236.52134610448613, + -48.257199992601585, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -238.02134610448613, + -45.65912378124827, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -239.52134610448613, + -43.06104756989495, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -241.02134610448613, + -40.46297135854164, + 1.1120744496616553 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -241.02134610448613, + -40.46297135854164, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -241.02134610448613, + -37.46297135854164, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -241.02134610448613, + -34.46297135854164, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -241.02134610448613, + -31.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -241.02134610448613, + -28.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -241.02134610448613, + -25.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -241.02134610448613, + -22.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -241.02134610448613, + -19.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -241.02134610448613, + -16.462971358541637, + 1.1120744496616553 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -241.02134610448613, + -13.462971358541637, + 1.1120744496616553 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-35-3_498777856/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-35-3_498777856/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ae489c146a1532097b4846463acfb2aafcd6eb5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-35-3_498777856/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 322.20600633026464, + 757.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 322.20600633026464, + 754.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 322.20600633026464, + 751.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 322.20600633026464, + 748.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 322.20600633026464, + 745.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 322.20600633026464, + 742.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 322.20600633026464, + 739.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 322.20600633026464, + 736.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.20600633026464, + 733.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 322.20600633026464, + 730.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 322.20600633026464, + 727.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 322.20600633026464, + 724.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 322.20600633026464, + 721.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 322.20600633026464, + 718.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 322.20600633026464, + 715.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 322.20600633026464, + 712.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 322.20600633026464, + 709.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 322.20600633026464, + 706.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 322.20600633026464, + 703.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 322.20600633026464, + 700.6557790328901, + -2.216094734281401 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 322.20600633026464, + 700.6557790328901, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 320.70600633026464, + 698.0577028215369, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 319.20600633026464, + 695.4596266101835, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.70600633026464, + 692.8615503988301, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 316.20600633026464, + 690.2634741874767, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 314.70600633026464, + 687.6653979761234, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 313.20600633026464, + 685.06732176477, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 311.70600633026464, + 682.4692455534166, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 310.20600633026464, + 679.8711693420632, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 308.70600633026464, + 677.2730931307099, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.20600633026464, + 674.6750169193565, + -2.216094734281401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 305.70600633026464, + 672.0769407080031, + -2.216094734281401 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-24_269455306/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-24_269455306/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..de50fcbab97af4a978b9ea5e10ce4c23cdf0b45a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-24_269455306/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -695.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -692.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -689.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -686.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -683.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -680.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -674.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.8690539127991, + 504.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -672.2709777014459, + 503.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -669.6729014900925, + 501.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.0748252787391, + 500.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -664.4767490673858, + 498.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -661.8786728560324, + 497.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.280596644679, + 495.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -656.6825204333256, + 494.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.0844442219723, + 492.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -651.4863680106189, + 491.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -648.8882917992655, + 489.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -646.2902155879121, + 488.29291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -643.6921393765588, + 486.79291923039176, + -3.7009154045122643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -641.0940631652054, + 485.29291923039176, + -3.7009154045122643 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-54_352406219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-54_352406219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5043bbe49bd47ab50f7e5b69764324210450d037 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-36-54_352406219/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 24.52333369403126, + -342.78384748168423, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.02333369403126, + -340.1857712703309, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.52333369403126, + -337.5876950589776, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.02333369403126, + -334.9896188476243, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.52333369403126, + -332.39154263627097, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.02333369403126, + -329.79346642491765, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 15.523333694031258, + -327.19539021356434, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 14.023333694031258, + -324.597314002211, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.523333694031258, + -321.9992377908577, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.023333694031258, + -319.4011615795044, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.523333694031258, + -316.8030853681511, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.023333694031258, + -314.20500915679776, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 6.523333694031259, + -311.60693294544444, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 5.02333369403126, + -309.0088567340911, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3.523333694031261, + -306.4107805227378, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.023333694031262, + -303.8127043113845, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 0.5233336940312625, + -301.2146281000312, + -0.7461639275722574 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 0.5233336940312625, + -301.2146281000312, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2.0747425173220533, + -299.7146281000312, + -0.7461639275722574 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -2.0747425173220533, + -299.7146281000312, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -3.5747425173220524, + -297.11655188867786, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -5.0747425173220515, + -294.51847567732455, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -6.574742517322051, + -291.92039946597123, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -8.07474251732205, + -289.3223232546179, + -0.7461639275722574 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -8.07474251732205, + -289.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -8.07474251732205, + -286.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -8.07474251732205, + -283.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -8.07474251732205, + -280.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -8.07474251732205, + -277.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -8.07474251732205, + -274.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -8.07474251732205, + -271.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -8.07474251732205, + -268.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -8.07474251732205, + -265.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -8.07474251732205, + -262.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -8.07474251732205, + -259.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -8.07474251732205, + -256.3223232546179, + -0.7461639275722574 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -8.07474251732205, + -253.3223232546179, + -0.7461639275722574 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-14_2044897763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-14_2044897763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7de705b6fcd58dfc4c00da183f8520df4f0a52a3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-4-14_2044897763/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -905.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -908.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -911.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -914.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -917.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -920.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -923.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -929.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -932.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -935.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -938.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -941.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -944.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -950.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -953.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -959.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -962.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -965.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -968.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -971.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -974.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -977.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -980.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -983.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -986.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -986.2436453834995, + 270.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -988.8417215948527, + 271.59473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -991.4397978062061, + 273.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -994.0378740175595, + 274.59473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -996.6359502289129, + 276.09473586897207, + -3.1599862812022046 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -999.2340264402662, + 277.59473586897207, + -3.1599862812022046 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-43-53_438792350/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-43-53_438792350/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b6ee00daa603264bac6d75a05f16f597b711e2b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-43-53_438792350/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -735.0900731525592, + 181.71969202280673, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -733.5900731525592, + 184.31776823416004, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.0900731525592, + 186.91584444551336, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -730.5900731525592, + 189.51392065686667, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.0900731525592, + 192.11199686822, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -727.5900731525592, + 194.7100730795733, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -726.0900731525592, + 197.30814929092662, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -724.5900731525592, + 199.90622550227994, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -723.0900731525592, + 202.50430171363325, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -721.5900731525592, + 205.10237792498657, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -720.0900731525592, + 207.70045413633989, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -718.5900731525592, + 210.2985303476932, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -717.0900731525592, + 212.89660655904652, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -715.5900731525592, + 215.49468277039983, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.0900731525592, + 218.09275898175315, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -712.5900731525592, + 220.69083519310647, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -711.0900731525592, + 223.28891140445978, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.5900731525592, + 225.8869876158131, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -708.0900731525592, + 228.4850638271664, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.5900731525592, + 231.08314003851973, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -705.0900731525592, + 233.68121624987305, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -703.5900731525592, + 236.27929246122636, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.0900731525592, + 238.87736867257968, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -700.5900731525592, + 241.475444883933, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -699.0900731525592, + 244.0735210952863, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -697.5900731525592, + 246.67159730663963, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -696.0900731525592, + 249.26967351799294, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.5900731525592, + 251.86774972934626, + 0.14424935534175987 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -694.5900731525592, + 251.86774972934626, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -691.9919969412058, + 253.36774972934626, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -689.3939207298524, + 254.86774972934626, + 0.14424935534175987 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -686.795844518499, + 256.36774972934626, + 0.14424935534175987 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-51_116087764/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-51_116087764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..614f6b1a71b4118b044c885c3f13e1fe283ba72f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-44-51_116087764/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -866.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -869.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -872.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -875.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -878.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -881.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -884.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -887.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -890.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -893.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -896.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -899.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -902.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -905.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -908.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -911.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -914.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -917.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -920.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -923.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -926.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -929.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -932.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -932.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -932.8942539682117, + 378.05481364911174, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -934.3942539682117, + 375.4567374377584, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -935.8942539682117, + 372.8586612264051, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -937.3942539682117, + 370.2605850150518, + 0.3304398627906995 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -937.3942539682117, + 370.2605850150518, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -939.992330179565, + 368.7605850150518, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -942.5904063909184, + 367.2605850150518, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -945.1884826022717, + 365.7605850150518, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -947.7865588136251, + 364.2605850150518, + 0.3304398627906995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -950.3846350249785, + 362.7605850150518, + 0.3304398627906995 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-46-52_350322227/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-46-52_350322227/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d5dbf85d93c125ceba36c5d0a5bc568083241b4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-46-52_350322227/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -501.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -498.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -495.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -492.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -489.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -486.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -483.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -480.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -477.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -474.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -471.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -468.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -465.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -462.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -459.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -456.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -453.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -450.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -447.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -444.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -441.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -438.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -435.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -432.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -429.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -426.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -423.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -420.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -417.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -414.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -411.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -408.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -405.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -405.7334420489183, + 484.1136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -403.13536583756496, + 482.6136669670065, + -0.9492231469308878 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -400.53728962621165, + 481.1136669670065, + -0.9492231469308878 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-40_1760281936/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-40_1760281936/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..99adfeb1bf645cccf8ede1b3edc81f4c3d2ca497 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-40_1760281936/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -731.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -725.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -722.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -719.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -713.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -710.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -707.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -704.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -701.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -698.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -695.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -692.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -689.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -686.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -683.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -680.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -677.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -674.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -671.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -668.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -668.1967433264456, + 61.51326612911113, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -666.6967433264456, + 64.11134234046445, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -665.1967433264456, + 66.70941855181776, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -663.6967433264456, + 69.30749476317108, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -662.1967433264456, + 71.9055709745244, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -660.6967433264456, + 74.50364718587771, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -659.1967433264456, + 77.10172339723103, + -1.9876536005665022 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -657.6967433264456, + 79.69979960858434, + -1.9876536005665022 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-57_771151432/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-57_771151432/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6057378dc6b045064e2965d0d8ae1144838fe68a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-47-57_771151432/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -174.41351852635472, + 766.510653260864, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -175.91351852635472, + 763.9125770495107, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -177.41351852635472, + 761.3145008381573, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -178.91351852635472, + 758.7164246268039, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -180.41351852635472, + 756.1183484154506, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -181.91351852635472, + 753.5202722040972, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -183.41351852635472, + 750.9221959927438, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -184.91351852635472, + 748.3241197813904, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -186.41351852635472, + 745.7260435700371, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -187.91351852635472, + 743.1279673586837, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -189.41351852635472, + 740.5298911473303, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.91351852635472, + 737.931814935977, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -192.41351852635472, + 735.3337387246236, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -193.91351852635472, + 732.7356625132702, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -195.41351852635472, + 730.1375863019168, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -196.91351852635472, + 727.5395100905635, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -198.41351852635472, + 724.9414338792101, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -199.91351852635472, + 722.3433576678567, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -201.41351852635472, + 719.7452814565033, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -202.91351852635472, + 717.14720524515, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -204.41351852635472, + 714.5491290337966, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -205.91351852635472, + 711.9510528224432, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -207.41351852635472, + 709.3529766110898, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -208.91351852635472, + 706.7549003997365, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -210.41351852635472, + 704.1568241883831, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -211.91351852635472, + 701.5587479770297, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -213.41351852635472, + 698.9606717656764, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -214.91351852635472, + 696.362595554323, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -216.41351852635472, + 693.7645193429696, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -217.91351852635472, + 691.1664431316162, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -219.41351852635472, + 688.5683669202629, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -220.91351852635472, + 685.9702907089095, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -222.41351852635472, + 683.3722144975561, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -223.91351852635472, + 680.7741382862027, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -225.41351852635472, + 678.1760620748494, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -226.91351852635472, + 675.577985863496, + 2.2246479447696146 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -226.91351852635472, + 675.577985863496, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -226.91351852635472, + 672.577985863496, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -226.91351852635472, + 669.577985863496, + 2.2246479447696146 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -226.91351852635472, + 666.577985863496, + 2.2246479447696146 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-2_1875335928/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-2_1875335928/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c4bda4db19c1b886527b10f5375eff92b8e4356 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-2_1875335928/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -710.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -704.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -701.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -698.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -695.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -692.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -689.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -683.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -680.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -680.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -680.4195150647391, + 106.30561305196599, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.9195150647391, + 103.70753684061268, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.4195150647391, + 101.10946062925936, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -675.9195150647391, + 98.51138441790604, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -674.4195150647391, + 95.91330820655273, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -672.9195150647391, + 93.31523199519941, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -671.4195150647391, + 90.7171557838461, + -0.8073809224880275 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -671.4195150647391, + 90.7171557838461, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.8214388533859, + 89.2171557838461, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -666.2233626420325, + 87.7171557838461, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.6252864306791, + 86.2171557838461, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -661.0272102193258, + 84.7171557838461, + -0.8073809224880275 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -658.4291340079724, + 83.2171557838461, + -0.8073809224880275 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-50_1597322404/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-50_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cd3dc543b9c4dd5dd9db163444e56226013d518 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-53-50_1597322404/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -871.5949172406458, + 64.90770399062077, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -870.0949172406458, + 62.30962777926746, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -868.5949172406458, + 59.71155156791414, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -867.0949172406458, + 57.113475356560826, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -865.5949172406458, + 54.51539914520751, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -864.0949172406458, + 51.917322933854194, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -862.5949172406458, + 49.31924672250088, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -861.0949172406458, + 46.72117051114756, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -859.5949172406458, + 44.123094299794246, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -858.0949172406458, + 41.52501808844093, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -856.5949172406458, + 38.926941877087614, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -855.0949172406458, + 36.3288656657343, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -853.5949172406458, + 33.73078945438098, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -852.0949172406458, + 31.132713243027666, + -0.06903602959096133 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -852.0949172406458, + 31.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -849.4968410292925, + 29.632713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.8987648179391, + 28.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -844.3006886065857, + 26.632713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -841.7026123952323, + 25.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -839.104536183879, + 23.632713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -836.5064599725256, + 22.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -833.9083837611722, + 20.632713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -831.3103075498188, + 19.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -828.7122313384655, + 17.632713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -826.1141551271121, + 16.132713243027666, + -0.06903602959096133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -823.5160789157587, + 14.632713243027666, + -0.06903602959096133 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-56-2_165344818/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-56-2_165344818/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d721653184f595c00b43fe73ec1fd292f927050 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-56-2_165344818/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -371.650652781466, + -463.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -371.650652781466, + -460.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -371.650652781466, + -457.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -371.650652781466, + -454.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -371.650652781466, + -451.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -371.650652781466, + -448.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -371.650652781466, + -445.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -371.650652781466, + -442.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -371.650652781466, + -439.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -371.650652781466, + -436.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -371.650652781466, + -433.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -371.650652781466, + -430.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -371.650652781466, + -427.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -371.650652781466, + -424.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -371.650652781466, + -421.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -371.650652781466, + -418.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -371.650652781466, + -415.89271455118694, + -0.5229256461399947 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -371.650652781466, + -415.89271455118694, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -370.150652781466, + -413.2946383398336, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -368.650652781466, + -410.6965621284803, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.150652781466, + -408.098485917127, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -365.650652781466, + -405.5004097057737, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -364.150652781466, + -402.90233349442036, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -362.650652781466, + -400.30425728306705, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -361.150652781466, + -397.70618107171373, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -359.650652781466, + -395.1081048603604, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -358.150652781466, + -392.5100286490071, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -356.650652781466, + -389.9119524376538, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -355.150652781466, + -387.31387622630047, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -353.650652781466, + -384.71580001494715, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -352.150652781466, + -382.11772380359383, + -0.5229256461399947 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -350.650652781466, + -379.5196475922405, + -0.5229256461399947 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-6_635723058/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-6_635723058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..511dff585c3da6f54e4a9fad4790b8a5ac14e55d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_12-9-6_635723058/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -85.3300378965055, + -209.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -82.73196168515219, + -210.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -80.13388547379887, + -212.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -77.53580926244555, + -213.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -74.93773305109224, + -215.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -72.33965683973892, + -216.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -69.7415806283856, + -218.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -67.14350441703229, + -219.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -64.54542820567897, + -221.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -61.94735199432566, + -222.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -59.34927578297234, + -224.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -56.751199571619026, + -225.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -54.15312336026571, + -227.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -51.555047148912394, + -228.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -48.95697093755908, + -230.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -46.35889472620576, + -231.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -43.760818514852446, + -233.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -41.16274230349913, + -234.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -38.56466609214581, + -236.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -35.9665898807925, + -237.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -33.36851366943918, + -239.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -30.770437458085866, + -240.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -28.17236124673255, + -242.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -25.574285035379233, + -243.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -22.976208824025917, + -245.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -20.3781326126726, + -246.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -17.780056401319285, + -248.33001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -15.18198018996597, + -249.83001548654892, + 2.604836182650521 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -12.583903978612653, + -251.33001548654892, + 2.604836182650521 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-0-51_243268139/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-0-51_243268139/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6ddfa86d2de50898b363d880dd768c06f700f3e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-0-51_243268139/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -278.85932065679344, + 536.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -281.45739686814676, + 538.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.0554730795001, + 539.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.6535492908534, + 541.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -289.2516255022067, + 542.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.84970171356, + 544.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -294.44777792491334, + 545.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -297.04585413626666, + 547.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.64393034761997, + 548.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -302.2420065589733, + 550.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -304.8400827703266, + 551.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.4381589816799, + 553.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -310.03623519303324, + 554.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -312.63431140438655, + 556.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -315.23238761573987, + 557.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -317.8304638270932, + 559.1825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -320.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -323.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -326.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -329.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -332.4285400384465, + 560.6825658054306, + -3.293160643017182 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-34_2027907669/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-34_2027907669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5161bfbc19f71d429308c6436decb1f5f1dc0561 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-34_2027907669/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.24774514863935, + 764.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 244.24774514863935, + 761.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 244.24774514863935, + 758.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 244.24774514863935, + 755.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 244.24774514863935, + 752.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 244.24774514863935, + 749.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 244.24774514863935, + 746.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 244.24774514863935, + 743.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 244.24774514863935, + 740.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 244.24774514863935, + 737.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 244.24774514863935, + 734.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 244.24774514863935, + 731.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 244.24774514863935, + 728.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 244.24774514863935, + 725.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 244.24774514863935, + 722.9274130385793, + 1.9567737434663321 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 244.24774514863935, + 722.9274130385793, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 242.74774514863935, + 720.3293368272259, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 241.24774514863935, + 717.7312606158725, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 239.74774514863935, + 715.1331844045192, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 238.24774514863935, + 712.5351081931658, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.74774514863935, + 709.9370319818124, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 235.24774514863935, + 707.338955770459, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 233.74774514863935, + 704.7408795591057, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 232.24774514863935, + 702.1428033477523, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 230.74774514863935, + 699.5447271363989, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 229.24774514863935, + 696.9466509250456, + 1.9567737434663321 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 227.74774514863935, + 694.3485747136922, + 1.9567737434663321 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-48_968338082/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-48_968338082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..31560223ef6484bfc03ddf78f15f6c13e0c6f81b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-1-48_968338082/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -668.7455029987283, + 200.55597166913643, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.2455029987283, + 197.9578954577831, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -671.7455029987283, + 195.3598192464298, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -673.2455029987283, + 192.76174303507648, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -674.7455029987283, + 190.16366682372316, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -676.2455029987283, + 187.56559061236985, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -677.7455029987283, + 184.96751440101653, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.2455029987283, + 182.3694381896632, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -680.7455029987283, + 179.7713619783099, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -682.2455029987283, + 177.17328576695658, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -683.7455029987283, + 174.57520955560327, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.2455029987283, + 171.97713334424995, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -686.7455029987283, + 169.37905713289663, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.2455029987283, + 166.78098092154332, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -689.7455029987283, + 164.18290471019, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -691.2455029987283, + 161.58482849883669, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -692.7455029987283, + 158.98675228748337, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.2455029987283, + 156.38867607613005, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -695.7455029987283, + 153.79059986477674, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -697.2455029987283, + 151.19252365342342, + -2.6496954646159256 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -697.2455029987283, + 151.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.8435792100815, + 149.69252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -702.4416554214349, + 148.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -705.0397316327883, + 146.69252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -707.6378078441417, + 145.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -710.235884055495, + 143.69252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -712.8339602668484, + 142.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -715.4320364782018, + 140.69252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.0301126895552, + 139.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -720.6281889009085, + 137.69252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -723.2262651122619, + 136.19252365342342, + -2.6496954646159256 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -725.8243413236153, + 134.69252365342342, + -2.6496954646159256 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-16-53_1642548899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-16-53_1642548899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3d45b8170f6042549ec1603758d1c382d576d7bf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-16-53_1642548899/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -279.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -282.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -288.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -294.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -297.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -300.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -303.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -306.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -309.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -312.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -315.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -318.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -321.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -324.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -327.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -330.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -333.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -336.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -339.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -342.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -348.2551578529484, + 741.968802130732, + 1.2505569236556031 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-30-48_155789224/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-30-48_155789224/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2f1d3aa0b3baf188830393eee430389b11903614 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-30-48_155789224/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 108.09956202698453, + -198.72397168967217, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.59956202698453, + -201.32204790102548, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 111.09956202698453, + -203.9201241123788, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.59956202698453, + -206.51820032373212, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 114.09956202698453, + -209.11627653508543, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 115.59956202698453, + -211.71435274643875, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 117.09956202698453, + -214.31242895779206, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 118.59956202698453, + -216.91050516914538, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 120.09956202698453, + -219.5085813804987, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 121.59956202698453, + -222.106657591852, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 123.09956202698453, + -224.70473380320533, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 124.59956202698453, + -227.30281001455864, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 126.09956202698453, + -229.90088622591196, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.59956202698453, + -232.49896243726528, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 129.09956202698453, + -235.0970386486186, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 130.59956202698453, + -237.6951148599719, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 132.09956202698453, + -240.29319107132523, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 133.59956202698453, + -242.89126728267854, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 135.09956202698453, + -245.48934349403186, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 136.59956202698453, + -248.08741970538517, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 138.09956202698453, + -250.6854959167385, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 139.59956202698453, + -253.2835721280918, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 141.09956202698453, + -255.88164833944512, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 142.59956202698453, + -258.47972455079844, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 144.09956202698453, + -261.07780076215175, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 145.59956202698453, + -263.67587697350507, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 147.09956202698453, + -266.2739531848584, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 148.59956202698453, + -268.8720293962117, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 150.09956202698453, + -271.470105607565, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 151.59956202698453, + -274.06818181891833, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 153.09956202698453, + -276.66625803027165, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 154.59956202698453, + -279.26433424162497, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 156.09956202698453, + -281.8624104529783, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 157.59956202698453, + -284.4604866643316, + -1.9080431695889857 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 157.59956202698453, + -284.4604866643316, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 157.59956202698453, + -287.4604866643316, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 157.59956202698453, + -290.4604866643316, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 157.59956202698453, + -293.4604866643316, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 157.59956202698453, + -296.4604866643316, + -1.9080431695889857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 157.59956202698453, + -299.4604866643316, + -1.9080431695889857 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-31-26_1389867269/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-31-26_1389867269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d915901c133b3ef92358e0f255f470f02bdf9854 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-31-26_1389867269/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 245.82741439573644, + 608.2366368628941, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 248.82741439573644, + 608.2366368628941, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 251.82741439573644, + 608.2366368628941, + -0.8665660271766953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 251.82741439573644, + 608.2366368628941, + -0.8665660271766953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 251.82741439573644, + 608.2366368628941, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.32741439573644, + 610.8347130742475, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 254.82741439573644, + 613.4327892856008, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.32741439573647, + 616.0308654969542, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196599 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 257.82741439573647, + 618.6289417083076, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 259.32741439573647, + 621.227017919661, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.82741439573647, + 623.8250941310143, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 262.32741439573647, + 626.4231703423677, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 263.82741439573647, + 629.0212465537211, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 265.32741439573647, + 631.6193227650745, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 266.82741439573647, + 634.2173989764278, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 268.32741439573647, + 636.8154751877812, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 269.82741439573647, + 639.4135513991346, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 271.32741439573647, + 642.011627610488, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 272.82741439573647, + 644.6097038218413, + -0.8665660271766953 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 272.82741439573647, + 644.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 275.4254906070898, + 646.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 278.0235668184431, + 647.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 280.6216430297964, + 649.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 283.21971924114973, + 650.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 285.81779545250305, + 652.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 288.41587166385636, + 653.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 291.0139478752097, + 655.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 293.612024086563, + 656.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 296.2101002979163, + 658.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 298.80817650926963, + 659.6097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 301.40625272062294, + 661.1097038218413, + -0.8665660271766953 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 301.40625272062294, + 661.1097038218413, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 302.90625272062294, + 663.7077800331947, + -0.8665660271766953 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 304.40625272062294, + 666.3058562445481, + -0.8665660271766953 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-39_337739299/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-39_337739299/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5d01ff1ec41c2d4cc70b9d3b7507ee1d9bb1d94 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-34-39_337739299/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 301.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 289.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 271.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 262.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 259.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 256.4939260143768, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 253.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 250.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 247.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 241.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 238.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 235.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 232.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 229.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 226.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 217.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 214.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 211.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 208.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 205.49392601437683, + 775.9872881536136, + -0.7030779637327429 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-36_1782280524/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-36_1782280524/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3511d394b0d2a3789dd1fdcaefa17028adbcd057 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-36-36_1782280524/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -16.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -19.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -22.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -25.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -28.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -31.064342143483927, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -34.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -37.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -40.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -43.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -46.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -49.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -52.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -55.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -58.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -61.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -64.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -67.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -70.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -73.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -76.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -79.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -82.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -85.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -88.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -88.06434214348393, + 390.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -90.66241835483724, + 389.4651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -93.26049456619056, + 387.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -95.85857077754387, + 386.4651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -98.45664698889719, + 384.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -101.0547232002505, + 383.4651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -103.65279941160382, + 381.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -106.25087562295714, + 380.4651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -108.84895183431045, + 378.9651260332758, + 1.436074748127135 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -111.44702804566377, + 377.4651260332758, + 1.436074748127135 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-21_105575579/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-21_105575579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..46c58b92c987731d4b7fe73c31772aa58951f95a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-41-21_105575579/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 435.25493950993797, + 478.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 435.25493950993797, + 481.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 435.25493950993797, + 484.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 435.25493950993797, + 487.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 435.25493950993797, + 490.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 435.25493950993797, + 493.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 435.25493950993797, + 496.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 435.25493950993797, + 499.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 435.25493950993797, + 502.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 435.25493950993797, + 505.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 435.25493950993797, + 508.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 435.25493950993797, + 511.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 435.25493950993797, + 514.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 435.25493950993797, + 517.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 435.25493950993797, + 520.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 435.25493950993797, + 523.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 435.25493950993797, + 526.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 435.25493950993797, + 529.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 435.25493950993797, + 532.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 435.25493950993797, + 535.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 435.25493950993797, + 538.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 435.25493950993797, + 541.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 435.25493950993797, + 544.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 435.25493950993797, + 547.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 435.25493950993797, + 550.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 435.25493950993797, + 553.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 435.25493950993797, + 556.1232274147027, + 0.3809439509178283 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 435.25493950993797, + 556.1232274147027, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 436.75493950993797, + 558.7213036260559, + 0.3809439509178283 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 438.25493950993797, + 561.3193798374093, + 0.3809439509178283 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-22_452867621/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-22_452867621/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..798fa181761a814e39347201d9baf1101769d753 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-22_452867621/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -363.6952310462823, + -240.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -366.2933072576356, + -238.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -368.8913834689889, + -237.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -371.48945968034224, + -235.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -374.08753589169555, + -234.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -376.68561210304887, + -232.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -379.2836883144022, + -231.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -381.8817645257555, + -229.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -384.4798407371088, + -228.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -387.07791694846213, + -226.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.67599315981545, + -225.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -392.27406937116876, + -223.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -394.8721455825221, + -222.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -397.4702217938754, + -220.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -400.0682980052287, + -219.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -402.666374216582, + -217.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -405.26445042793534, + -216.21337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -407.86252663928866, + -214.71337710949163, + -4.6362921102010075 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -407.86252663928866, + -214.71337710949163, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -409.36252663928866, + -212.11530089813832, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -410.86252663928866, + -209.517224686785, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -412.36252663928866, + -206.91914847543168, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -413.86252663928866, + -204.32107226407837, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -415.36252663928866, + -201.72299605272505, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -416.86252663928866, + -199.12491984137174, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -418.36252663928866, + -196.52684363001842, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -419.86252663928866, + -193.9287674186651, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -421.36252663928866, + -191.3306912073118, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -422.86252663928866, + -188.73261499595847, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -424.36252663928866, + -186.13453878460516, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -425.86252663928866, + -183.53646257325184, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -427.36252663928866, + -180.93838636189852, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -428.86252663928866, + -178.3403101505452, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -430.36252663928866, + -175.7422339391919, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -431.86252663928866, + -173.14415772783858, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -433.36252663928866, + -170.54608151648526, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -434.86252663928866, + -167.94800530513194, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -436.36252663928866, + -165.34992909377863, + -4.6362921102010075 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -436.36252663928866, + -165.34992909377863, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -438.960602850642, + -163.84992909377863, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -441.5586790619953, + -162.34992909377863, + -4.6362921102010075 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -444.1567552733486, + -160.84992909377863, + -4.6362921102010075 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-5_1520223205/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-5_1520223205/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77ded30a837e8bbb8b5d412fe98b38defe7b7471 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-42-5_1520223205/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -745.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -742.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -736.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -733.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -730.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -724.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -721.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -718.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -715.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -712.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -709.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -706.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -703.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -700.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -697.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -691.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -688.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -685.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -682.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -676.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -676.0901506324661, + -148.2585479945636, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -674.5901506324661, + -150.85662420591692, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.0901506324661, + -153.45470041727023, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -671.5901506324661, + -156.05277662862355, + -2.6007357702521303 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -671.5901506324661, + -156.05277662862355, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -668.9920744211129, + -157.55277662862355, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -666.3939982097595, + -159.05277662862355, + -2.6007357702521303 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -663.7959219984061, + -160.55277662862355, + -2.6007357702521303 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-16_213801961/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-16_213801961/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e697f80b5df212fe567c859f551fcf2a333d1d7e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-16_213801961/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -239.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -236.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -233.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -230.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -227.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -224.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -221.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -218.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -215.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -212.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -209.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -206.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -203.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -197.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -194.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -191.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -188.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -188.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -188.25669451434783, + -446.5491317197336, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -186.75669451434783, + -449.14720793108694, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -185.25669451434783, + -451.74528414244025, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.75669451434783, + -454.34336035379357, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -182.25669451434783, + -456.9414365651469, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -180.75669451434783, + -459.5395127765002, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -179.25669451434783, + -462.1375889878535, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.75669451434783, + -464.73566519920684, + 0.842468467887878 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -176.25669451434783, + -467.33374141056015, + 0.842468467887878 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-9_201690613/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-9_201690613/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd7d5f5b03582be438a051b23489d5e96acaa1c0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-43-9_201690613/pose.jsonl @@ -0,0 +1,92 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 491.6455093322741, + 320.0592494171112, + 2.4604591594848513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 493.1455093322741, + 317.46117320575786, + 2.4604591594848513 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 494.6455093322741, + 314.86309699440454, + 2.4604591594848513 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 494.6455093322741, + 314.86309699440454, + 2.4604591594848513 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.6455093322741, + 314.86309699440454, + 2.4604591594848513 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 497.6455093322741, + 314.86309699440454, + 2.4604591594848513 + ], + "type": "stop", + "value": 0, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-48-49_1023457753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-48-49_1023457753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2006d5ef70fe934c8440b4014c2192fd4f7bb6e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-48-49_1023457753/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -83.6565916893353, + 755.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -81.05851547798198, + 753.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -78.46043926662867, + 752.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -75.86236305527535, + 750.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -73.26428684392204, + 749.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -70.66621063256872, + 747.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -68.0681344212154, + 746.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -65.47005820986209, + 744.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -62.87198199850877, + 743.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -60.273905787155456, + 741.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -57.67582957580214, + 740.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -55.077753364448824, + 738.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -52.47967715309551, + 737.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -49.88160094174219, + 735.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.283524730388876, + 734.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -44.68544851903556, + 732.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -42.087372307682244, + 731.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -39.48929609632893, + 729.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -36.89121988497561, + 728.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -34.293143673622296, + 726.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -31.69506746226898, + 725.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -29.096991250915664, + 723.6070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -26.49891503956235, + 722.1070504928416, + -0.3172122485597537 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -26.49891503956235, + 722.1070504928416, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -24.99891503956235, + 719.5089742814882, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -23.49891503956235, + 716.9108980701349, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -21.99891503956235, + 714.3128218587815, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -20.49891503956235, + 711.7147456474281, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -18.99891503956235, + 709.1166694360747, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -17.49891503956235, + 706.5185932247214, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -15.998915039562348, + 703.920517013368, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -14.498915039562348, + 701.3224408020146, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -12.998915039562348, + 698.7243645906613, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -11.498915039562348, + 696.1262883793079, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -9.998915039562348, + 693.5282121679545, + -0.3172122485597537 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -8.498915039562348, + 690.9301359566011, + -0.3172122485597537 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-31_501772890/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-31_501772890/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d7567ce8837bc65de7bf6a91490bffedc2a8a34 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-50-31_501772890/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -439.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -436.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -433.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -430.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -427.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -424.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -421.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -418.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -415.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -412.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -409.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -406.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -403.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -400.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -397.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -394.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -391.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -388.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -385.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -382.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -379.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -376.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -373.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -370.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -367.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -367.70940967242046, + 730.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -365.11133346106715, + 731.9784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -362.51325724971383, + 733.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -359.9151810383605, + 734.9784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -357.3171048270072, + 736.4784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -354.7190286156539, + 737.9784518517685, + -3.706470897604413 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -352.12095240430057, + 739.4784518517685, + -3.706470897604413 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-52-22_364319529/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-52-22_364319529/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e89f046105732f3245b733879c3574ca16082245 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-52-22_364319529/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.6645418396788, + -107.62070560085789, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -275.1645418396788, + -105.02262938950457, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -273.6645418396788, + -102.42455317815126, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -272.1645418396788, + -99.82647696679794, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -270.6645418396788, + -97.22840075544462, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -269.1645418396788, + -94.63032454409131, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -267.6645418396788, + -92.03224833273799, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -266.1645418396788, + -89.43417212138468, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -264.6645418396788, + -86.83609591003136, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -263.1645418396788, + -84.23801969867804, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -261.6645418396788, + -81.63994348732473, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -260.1645418396788, + -79.04186727597141, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -258.6645418396788, + -76.4437910646181, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -257.1645418396788, + -73.84571485326478, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -255.6645418396788, + -71.24763864191146, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -254.1645418396788, + -68.64956243055815, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -252.6645418396788, + -66.05148621920483, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -251.1645418396788, + -63.45341000785152, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -249.6645418396788, + -60.8553337964982, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -248.1645418396788, + -58.257257585144885, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -246.6645418396788, + -55.65918137379157, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -245.1645418396788, + -53.06110516243825, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -243.6645418396788, + -50.46302895108494, + 3.933307067116756 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -243.6645418396788, + -50.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.6645418396788, + -47.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -243.6645418396788, + -44.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -243.6645418396788, + -41.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -243.6645418396788, + -38.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -243.6645418396788, + -35.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -243.6645418396788, + -32.46302895108494, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -243.6645418396788, + -29.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -243.6645418396788, + -26.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -243.6645418396788, + -23.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -243.6645418396788, + -20.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -243.6645418396788, + -17.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -243.6645418396788, + -14.463028951084937, + 3.933307067116756 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -243.6645418396788, + -11.463028951084937, + 3.933307067116756 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-46_767066249/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-46_767066249/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a3003f6d17cc1eb3d7943f84307f6ca8f1acbcf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-46_767066249/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 291.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 285.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 282.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 279.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 276.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 273.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 270.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 267.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 264.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 261.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 258.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 255.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 252.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 249.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 249.95321623549563, + 700.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 247.35514002414232, + 698.8769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 244.757063812789, + 697.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 242.15898760143568, + 695.8769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 239.56091139008237, + 694.3769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 236.96283517872905, + 692.8769207360546, + -3.684133580131299 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 236.96283517872905, + 692.8769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 233.96283517872905, + 692.8769207360546, + -3.684133580131299 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 230.96283517872905, + 692.8769207360546, + -3.684133580131299 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-59_1886086990/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-59_1886086990/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ead4c982113c7c2471050cc853e5f1238ea007b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_13-53-59_1886086990/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 447.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 450.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 453.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 456.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 459.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 462.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 465.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 468.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 471.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 474.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 477.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 480.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 483.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 486.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 489.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 492.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 495.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 498.18771946394827, + 414.3110682535924, + 2.8948768539076912 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-1-7_820697697/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-1-7_820697697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ffebe2bb6c44b75514e3964a625f69d7678ab03 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-1-7_820697697/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -293.07231462733745, + -528.5822466556647, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -291.57231462733745, + -525.9841704443113, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -290.07231462733745, + -523.3860942329579, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -288.57231462733745, + -520.7880180216046, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.07231462733745, + -518.1899418102512, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -285.57231462733745, + -515.5918655988978, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -284.07231462733745, + -512.9937893875444, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -282.57231462733745, + -510.3957131761911, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -281.07231462733745, + -507.7976369648378, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.57231462733745, + -505.1995607534845, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -278.07231462733745, + -502.6014845421312, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -276.57231462733745, + -500.00340833077786, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -275.07231462733745, + -497.40533211942454, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.57231462733745, + -494.8072559080712, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.07231462733745, + -492.2091796967179, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -270.57231462733745, + -489.6111034853646, + 3.8135990189275955 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -270.57231462733745, + -489.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -270.57231462733745, + -486.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -270.57231462733745, + -483.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -270.57231462733745, + -480.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -270.57231462733745, + -477.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -270.57231462733745, + -474.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -270.57231462733745, + -471.6111034853646, + 3.8135990189275955 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -270.57231462733745, + -468.6111034853646, + 3.8135990189275955 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-10-54_733053144/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-10-54_733053144/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fc3c065287b5a1ba471dedba638433ca9ac914e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-10-54_733053144/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 185.42963047379692, + 767.2943514408912, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 186.92963047379692, + 764.6962752295378, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 188.42963047379692, + 762.0981990181845, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 189.92963047379692, + 759.5001228068311, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 191.42963047379692, + 756.9020465954777, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 192.92963047379692, + 754.3039703841243, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 194.42963047379692, + 751.705894172771, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 195.92963047379692, + 749.1078179614176, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 197.42963047379692, + 746.5097417500642, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 198.92963047379692, + 743.9116655387108, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 200.42963047379692, + 741.3135893273575, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 201.92963047379692, + 738.7155131160041, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 203.42963047379692, + 736.1174369046507, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 204.92963047379692, + 733.5193606932974, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 206.42963047379692, + 730.921284481944, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 207.92963047379692, + 728.3232082705906, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 209.42963047379692, + 725.7251320592372, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 210.92963047379692, + 723.1270558478839, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 212.42963047379692, + 720.5289796365305, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 213.92963047379692, + 717.9309034251771, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 215.42963047379692, + 715.3328272138237, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 216.92963047379692, + 712.7347510024704, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 218.42963047379692, + 710.136674791117, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 219.92963047379692, + 707.5385985797636, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 221.42963047379692, + 704.9405223684103, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.92963047379692, + 702.3424461570569, + 0.6561229341499795 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.92963047379692, + 702.3424461570569, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.92963047379692, + 699.3424461570569, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 222.92963047379692, + 696.3424461570569, + 0.6561229341499795 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 222.92963047379692, + 693.3424461570569, + 0.6561229341499795 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-11-10_1433102829/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-11-10_1433102829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..211998000aa921b86acbb698a73bb609a64740a9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-11-10_1433102829/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 24.866245394447603, + -192.47283563499124, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 23.366245394447603, + -195.07091184634456, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 21.866245394447603, + -197.66898805769787, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 20.366245394447603, + -200.2670642690512, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 18.866245394447603, + -202.8651404804045, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 17.366245394447603, + -205.46321669175782, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 15.866245394447603, + -208.06129290311114, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 14.366245394447603, + -210.65936911446445, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 12.866245394447603, + -213.25744532581777, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.366245394447603, + -215.85552153717109, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 9.866245394447603, + -218.4535977485244, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 8.366245394447603, + -221.05167395987772, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 6.866245394447604, + -223.64975017123103, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 5.3662453944476045, + -226.24782638258435, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 3.8662453944476054, + -228.84590259393767, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 2.3662453944476063, + -231.44397880529098, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 0.866245394447607, + -234.0420550166443, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -0.6337546055523924, + -236.6401312279976, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -2.133754605552392, + -239.23820743935093, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -3.633754605552391, + -241.83628365070425, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -5.13375460555239, + -244.43435986205756, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -6.633754605552389, + -247.03243607341088, + -4.237122754631764 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -8.133754605552388, + -249.6305122847642, + -4.237122754631764 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-13-43_1450956042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-13-43_1450956042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e1a4c27062a2a3708e5aa182195fd31d479e7e8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-13-43_1450956042/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -722.3399202038871, + 100.28323975030638, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -720.8399202038871, + 97.68516353895306, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -719.3399202038871, + 95.08708732759975, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -717.8399202038871, + 92.48901111624643, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -716.3399202038871, + 89.89093490489311, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -714.8399202038871, + 87.2928586935398, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -713.3399202038871, + 84.69478248218648, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -711.8399202038871, + 82.09670627083317, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -710.3399202038871, + 79.49863005947985, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -708.8399202038871, + 76.90055384812653, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.3399202038871, + 74.30247763677322, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -705.8399202038871, + 71.7044014254199, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -704.3399202038871, + 69.10632521406659, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -702.8399202038871, + 66.50824900271327, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -701.3399202038871, + 63.910172791359955, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.8399202038871, + 61.31209658000664, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -698.3399202038871, + 58.71402036865332, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -696.8399202038871, + 56.11594415730001, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -695.3399202038871, + 53.51786794594669, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.8399202038871, + 50.919791734593375, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -692.3399202038871, + 48.32171552324006, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -690.8399202038871, + 45.72363931188674, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -689.3399202038871, + 43.12556310053343, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.8399202038871, + 40.52748688918011, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.3399202038871, + 37.929410677826795, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.8399202038871, + 35.33133446647348, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -683.3399202038871, + 32.73325825512016, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.8399202038871, + 30.135182043766847, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -680.3399202038871, + 27.53710583241353, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -678.8399202038871, + 24.939029621060214, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -677.3399202038871, + 22.3409534097069, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -675.8399202038871, + 19.742877198353582, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -674.3399202038871, + 17.144800987000266, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -672.8399202038871, + 14.54672477564695, + 1.4169757869843904 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -672.8399202038871, + 14.54672477564695, + 1.4169757869843904 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -672.8399202038871, + 14.54672477564695, + 1.4169757869843904 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -669.8399202038871, + 14.54672477564695, + 1.4169757869843904 + ], + "type": "stop", + "value": 0, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-18-6_1748349614/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-18-6_1748349614/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e3070016c003122c08dda11bb3549df344b00325 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-18-6_1748349614/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -649.7393955579247, + 95.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -649.7393955579247, + 92.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.7393955579247, + 89.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -649.7393955579247, + 86.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.7393955579247, + 83.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -649.7393955579247, + 80.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -649.7393955579247, + 77.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -649.7393955579247, + 74.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -649.7393955579247, + 71.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -649.7393955579247, + 68.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -649.7393955579247, + 65.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -649.7393955579247, + 62.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -649.7393955579247, + 59.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -649.7393955579247, + 56.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -649.7393955579247, + 53.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -649.7393955579247, + 50.67112019901434, + 4.976460832102436 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.7393955579247, + 50.67112019901434, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -651.2393955579247, + 48.07304398766102, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -652.7393955579247, + 45.47496777630771, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -654.2393955579247, + 42.87689156495439, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -655.7393955579247, + 40.278815353601075, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -657.2393955579247, + 37.68073914224776, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -658.7393955579247, + 35.08266293089444, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -660.2393955579247, + 32.48458671954113, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -661.7393955579247, + 29.88651050818781, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -663.2393955579247, + 27.288434296834495, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -664.7393955579247, + 24.69035808548118, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -666.2393955579247, + 22.092281874127863, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -667.7393955579247, + 19.494205662774547, + 4.976460832102436 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -667.7393955579247, + 19.494205662774547, + 4.976460832102436 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -667.7393955579247, + 16.494205662774547, + 4.976460832102436 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-17_970925433/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-17_970925433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..893e45b21dc8368a285c6677219659f9ac8c6fb4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-17_970925433/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -213.6985073094453, + 734.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -213.6985073094453, + 731.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -213.6985073094453, + 728.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -213.6985073094453, + 725.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -213.6985073094453, + 722.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -213.6985073094453, + 719.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -213.6985073094453, + 716.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -213.6985073094453, + 713.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -213.6985073094453, + 710.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -213.6985073094453, + 707.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -213.6985073094453, + 704.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -213.6985073094453, + 701.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -213.6985073094453, + 698.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -213.6985073094453, + 695.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -213.6985073094453, + 692.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.6985073094453, + 689.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -213.6985073094453, + 686.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.6985073094453, + 683.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -213.6985073094453, + 680.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -213.6985073094453, + 677.382360926189, + -0.7994390298460203 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -213.6985073094453, + 677.382360926189, + -0.7994390298460203 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -213.6985073094453, + 677.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -216.2965835207986, + 675.882360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -218.89465973215192, + 674.382360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -221.49273594350524, + 672.882360926189, + -0.7994390298460203 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -221.49273594350524, + 672.882360926189, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -222.99273594350524, + 670.2842847148356, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -224.49273594350524, + 667.6862085034822, + -0.7994390298460203 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -225.99273594350524, + 665.0881322921289, + -0.7994390298460203 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-32_309198987/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-32_309198987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..766fdecd30471bc380c974531ce5e28860923845 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-28-32_309198987/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -769.8665203203519, + 183.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -767.2684441089987, + 184.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -764.6703678976453, + 186.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -762.0722916862919, + 187.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -759.4742154749385, + 189.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.8761392635852, + 190.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -754.2780630522318, + 192.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -751.6799868408784, + 193.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -749.081910629525, + 195.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.4838344181717, + 196.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -743.8857582068183, + 198.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -741.2876819954649, + 199.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -738.6896057841116, + 201.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -736.0915295727582, + 202.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.4934533614048, + 204.0477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -730.8953771500514, + 205.5477162477847, + -4.518264200077793 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -730.8953771500514, + 205.5477162477847, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -729.3953771500514, + 208.14579245913802, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -727.8953771500514, + 210.74386867049134, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -726.3953771500514, + 213.34194488184465, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -724.8953771500514, + 215.94002109319797, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -723.3953771500514, + 218.5380973045513, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -721.8953771500514, + 221.1361735159046, + -4.518264200077793 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -720.3953771500514, + 223.73424972725792, + -4.518264200077793 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-32-5_1376035217/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-32-5_1376035217/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2cac317eca77b9ea0043af08660a29282b24362d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-32-5_1376035217/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -733.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -739.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -742.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -751.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -754.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -757.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -766.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -769.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -772.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -775.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -781.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -781.8802355748068, + 275.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.47831178616, + 276.51281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -787.0763879975134, + 278.01281153229365, + 0.9426439396081872 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -787.0763879975134, + 278.01281153229365, + 0.9426439396081872 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.5763879975134, + 280.61088774364697, + 0.9426439396081872 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-33-3_1353436873/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-33-3_1353436873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0899570381e6a1404c985fd75f39842f01bd97c9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-33-3_1353436873/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -778.7606756128332, + 87.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -776.1625994014798, + 89.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -773.5645231901265, + 90.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -770.9664469787731, + 92.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -768.3683707674197, + 93.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -765.7702945560663, + 95.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -763.172218344713, + 96.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -760.5741421333596, + 98.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -757.9760659220062, + 99.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.3779897106529, + 101.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -752.7799134992995, + 102.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.1818372879461, + 104.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -747.5837610765927, + 105.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -744.9856848652394, + 107.30941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -742.387608653886, + 108.80941773937698, + 1.413914702581124 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -742.387608653886, + 108.80941773937698, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -740.887608653886, + 111.4074939507303, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -739.387608653886, + 114.00557016208361, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -737.887608653886, + 116.60364637343693, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -736.387608653886, + 119.20172258479025, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -734.887608653886, + 121.79979879614356, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -733.387608653886, + 124.39787500749688, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -731.887608653886, + 126.9959512188502, + 1.413914702581124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.387608653886, + 129.5940274302035, + 1.413914702581124 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-37_2077211388/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-37_2077211388/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..546aa57d04346a391a105ac3af791d6882d5a7e9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-37_2077211388/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 166.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 163.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 160.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 157.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 154.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 151.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 148.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 145.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 142.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 139.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 136.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 133.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 130.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 127.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 124.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 121.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 118.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 115.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 112.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 109.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 106.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 103.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 100.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 100.58036102735392, + 12.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 97.9822848160006, + 10.638490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 95.38420860464728, + 9.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 92.78613239329397, + 7.638490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 90.18805618194065, + 6.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 87.58997997058734, + 4.638490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 84.99190375923402, + 3.138490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 82.3938275478807, + 1.638490439735323, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 79.79575133652739, + 0.13849043973532327, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 77.19767512517407, + -1.3615095602646765, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 74.59959891382076, + -2.8615095602646763, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 72.00152270246744, + -4.361509560264676, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 69.40344649111412, + -5.861509560264676, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 66.80537027976081, + -7.361509560264676, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 64.20729406840749, + -8.861509560264675, + -2.0337226765237566 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991495 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 64.20729406840749, + -8.861509560264675, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897936 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 61.20729406840749, + -8.861509560264675, + -2.0337226765237566 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 58.20729406840749, + -8.861509560264675, + -2.0337226765237566 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-7_1001089438/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-7_1001089438/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fc5b2f46090e5a455527d54bfee8d671c36f7fcd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-37-7_1001089438/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -738.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -729.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -729.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -729.1084162544507, + 206.01795704589605, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -727.6084162544507, + 208.61603325724937, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -726.1084162544507, + 211.2141094686027, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -724.6084162544507, + 213.812185679956, + 0.6377374891023999 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -724.6084162544507, + 213.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -722.0103400430974, + 215.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -719.412263831744, + 216.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -716.8141876203906, + 218.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -714.2161114090372, + 219.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -711.6180351976839, + 221.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.0199589863305, + 222.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.4218827749771, + 224.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.8238065636237, + 225.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -701.2257303522704, + 227.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -698.627654140917, + 228.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -696.0295779295636, + 230.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.4315017182103, + 231.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -690.8334255068569, + 233.312185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -688.2353492955035, + 234.812185679956, + 0.6377374891023999 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.6372730841501, + 236.312185679956, + 0.6377374891023999 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-38-14_983631233/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-38-14_983631233/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..da66d3f9ade7a6bbb2a8208dd4d93d2b589bb9ce --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-38-14_983631233/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -733.6682555274858, + 172.583404942227, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.1682555274858, + 169.98532873087368, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -736.6682555274858, + 167.38725251952036, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -738.1682555274858, + 164.78917630816704, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -739.6682555274858, + 162.19110009681373, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.1682555274858, + 159.5930238854604, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -742.6682555274858, + 156.9949476741071, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.1682555274858, + 154.39687146275378, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -745.6682555274858, + 151.79879525140046, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.1682555274858, + 149.20071904004715, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -748.6682555274858, + 146.60264282869383, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.1682555274858, + 144.00456661734052, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -751.6682555274858, + 141.4064904059872, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.1682555274858, + 138.80841419463388, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.6682555274858, + 136.21033798328057, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.1682555274858, + 133.61226177192725, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.6682555274858, + 131.01418556057394, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -759.1682555274858, + 128.41610934922062, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -760.6682555274858, + 125.8180331378673, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.1682555274858, + 123.21995692651399, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -763.6682555274858, + 120.62188071516067, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.1682555274858, + 118.02380450380736, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -766.6682555274858, + 115.42572829245404, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -768.1682555274858, + 112.82765208110072, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -769.6682555274858, + 110.2295758697474, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.1682555274858, + 107.63149965839409, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -772.6682555274858, + 105.03342344704078, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -774.1682555274858, + 102.43534723568746, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -775.6682555274858, + 99.83727102433414, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -777.1682555274858, + 97.23919481298083, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -778.6682555274858, + 94.64111860162751, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -780.1682555274858, + 92.0430423902742, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -781.6682555274858, + 89.44496617892088, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -783.1682555274858, + 86.84688996756756, + -3.6836925389657083 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -784.6682555274858, + 84.24881375621425, + -3.6836925389657083 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-39-48_2069110699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-39-48_2069110699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f2bf583a33b205eb7220cecfc4f837b5520c752 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-39-48_2069110699/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -733.7529315469568, + 349.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.3510077583101, + 347.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -738.9490839696634, + 346.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -741.5471601810168, + 344.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -744.1452363923702, + 343.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -746.7433126037236, + 341.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -749.3413888150769, + 340.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -751.9394650264303, + 338.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -754.5375412377837, + 337.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -757.135617449137, + 335.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -759.7336936604904, + 334.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.3317698718438, + 332.5474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -764.9298460831972, + 331.0474511925313, + -4.67948665010602 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -764.9298460831972, + 331.0474511925313, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -766.4298460831972, + 328.449374981178, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.9298460831972, + 325.85129876982467, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -769.4298460831972, + 323.25322255847135, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -770.9298460831972, + 320.65514634711803, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.4298460831972, + 318.0570701357647, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.9298460831972, + 315.4589939244114, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -775.4298460831972, + 312.8609177130581, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.9298460831972, + 310.26284150170477, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.4298460831972, + 307.66476529035145, + -4.67948665010602 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -779.9298460831972, + 305.06668907899814, + -4.67948665010602 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-4-9_12895151/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-4-9_12895151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..842db793883efec12b5418192fa9a07ef97e8b53 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-4-9_12895151/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -318.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -315.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -312.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -309.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -306.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -303.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -303.32693498799375, + 712.3616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -300.72885877664044, + 710.8616027598372, + 3.273614543865639 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -300.72885877664044, + 710.8616027598372, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.22885877664044, + 708.2635265484839, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -297.72885877664044, + 705.6654503371306, + 3.273614543865639 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -297.72885877664044, + 705.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -295.1307825652871, + 704.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -292.5327063539338, + 702.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -289.9346301425805, + 701.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -287.3365539312272, + 699.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -284.73847771987386, + 698.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -282.14040150852054, + 696.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -279.5423252971672, + 695.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -276.9442490858139, + 693.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -274.3461728744606, + 692.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -271.7480966631073, + 690.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.15002045175396, + 689.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -266.55194424040064, + 687.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -263.9538680290473, + 686.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -261.355791817694, + 684.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -258.7577156063407, + 683.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -256.1596393949874, + 681.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -253.56156318363406, + 680.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -250.96348697228075, + 678.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -248.36541076092743, + 677.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -245.76733454957412, + 675.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -243.1692583382208, + 674.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -240.57118212686748, + 672.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -237.97310591551417, + 671.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -235.37502970416085, + 669.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -232.77695349280754, + 668.1654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -230.17887728145422, + 666.6654503371306, + 3.273614543865639 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -227.5808010701009, + 665.1654503371306, + 3.273614543865639 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-46-36_738393740/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-46-36_738393740/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a173a1ade2cbb7a2a240bbdc094f01eb3652b4cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-46-36_738393740/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -440.4998795945738, + 572.4704448043148, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -438.9998795945738, + 569.8723685929615, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -437.4998795945738, + 567.2742923816081, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -435.9998795945738, + 564.6762161702547, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -434.4998795945738, + 562.0781399589014, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -432.9998795945738, + 559.480063747548, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -431.4998795945738, + 556.8819875361946, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -429.9998795945738, + 554.2839113248413, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -428.4998795945738, + 551.6858351134879, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -426.9998795945738, + 549.0877589021345, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -425.4998795945738, + 546.4896826907811, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -423.9998795945738, + 543.8916064794278, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -422.4998795945738, + 541.2935302680744, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -420.9998795945738, + 538.695454056721, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -419.4998795945738, + 536.0973778453676, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -417.9998795945738, + 533.4993016340143, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -416.4998795945738, + 530.9012254226609, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -414.9998795945738, + 528.3031492113075, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -413.4998795945738, + 525.7050729999542, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -411.9998795945738, + 523.1069967886008, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -410.4998795945738, + 520.5089205772474, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -408.9998795945738, + 517.910844365894, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -407.4998795945738, + 515.3127681545407, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -405.9998795945738, + 512.7146919431873, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -404.4998795945738, + 510.116615731834, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -402.9998795945738, + 507.51853952048066, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -401.4998795945738, + 504.92046330912734, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -399.9998795945738, + 502.322387097774, + -0.2977659748193071 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -399.9998795945738, + 502.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -399.9998795945738, + 499.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -399.9998795945738, + 496.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -399.9998795945738, + 493.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -399.9998795945738, + 490.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -399.9998795945738, + 487.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -399.9998795945738, + 484.322387097774, + -0.2977659748193071 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -399.9998795945738, + 481.322387097774, + -0.2977659748193071 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-47-51_1905241081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-47-51_1905241081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d776e76f52ff0167600ff5fee2fd18f501c64f8b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-47-51_1905241081/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -292.9556802682845, + -223.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -295.5537564796378, + -222.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -298.1518326909911, + -220.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -300.74990890234443, + -219.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -303.34798511369775, + -217.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -305.94606132505106, + -216.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -308.5441375364044, + -214.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -311.1422137477577, + -213.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -313.740289959111, + -211.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -316.3383661704643, + -210.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -318.93644238181764, + -208.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -321.53451859317096, + -207.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -324.1325948045243, + -205.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -326.7306710158776, + -204.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -329.3287472272309, + -202.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -331.9268234385842, + -201.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -334.52489964993754, + -199.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -337.12297586129085, + -198.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -339.72105207264417, + -196.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -342.3191282839975, + -195.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -344.9172044953508, + -193.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -347.5152807067041, + -192.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -350.11335691805743, + -190.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -352.71143312941075, + -189.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -355.30950934076407, + -187.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -357.9075855521174, + -186.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -360.5056617634707, + -184.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -363.103737974824, + -183.43950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -365.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -365.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -368.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -371.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -374.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -377.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -380.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -383.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -386.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -389.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -389.70181418617733, + -181.93950919954585, + -3.560480267644558 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -392.29989039753065, + -180.43950919954585, + -3.560480267644558 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-26_371653516/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-26_371653516/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a587c38b5b0046fd0d3502e8294143c2b47cd6a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-48-26_371653516/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -737.3445186410611, + 36.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -739.9425948524145, + 34.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -742.5406710637678, + 33.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -745.1387472751212, + 31.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -747.7368234864746, + 30.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -750.334899697828, + 28.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -752.9329759091813, + 27.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -755.5310521205347, + 25.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -758.1291283318881, + 24.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.7272045432414, + 22.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -763.3252807545948, + 21.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -765.9233569659482, + 19.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -768.5214331773016, + 18.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.1195093886549, + 16.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -773.7175856000083, + 15.15793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -776.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -776.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -779.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -782.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -785.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -788.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -791.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -794.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -797.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -800.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -803.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -806.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -809.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -812.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -815.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -818.3156618113617, + 13.65793212941027, + -1.4329484712285407 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-52-44_1338299904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-52-44_1338299904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa1e4a6e1a86990605c0e0e951fc6de61719224b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-52-44_1338299904/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 64.22022537583321, + -314.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 61.62214916447989, + -312.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 59.02407295312658, + -311.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 56.42599674177326, + -309.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 53.827920530419945, + -308.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 51.22984431906663, + -306.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 48.63176810771331, + -305.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 46.03369189636, + -303.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 43.43561568500668, + -302.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 40.837539473653365, + -300.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 38.23946326230005, + -299.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 35.64138705094673, + -297.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 33.04331083959342, + -296.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 30.4452346282401, + -294.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 27.847158416886785, + -293.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 25.24908220553347, + -291.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 22.651005994180153, + -290.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.052929782826837, + -288.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 17.45485357147352, + -287.0451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 14.856777360120205, + -285.5451393030176, + 0.18223991789008132 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.856777360120205, + -285.5451393030176, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 13.356777360120205, + -282.9470630916643, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 11.856777360120205, + -280.348986880311, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.356777360120205, + -277.75091066895766, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 8.856777360120205, + -275.15283445760434, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 7.356777360120206, + -272.554758246251, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 5.856777360120207, + -269.9566820348977, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 4.3567773601202076, + -267.3586058235444, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 2.8567773601202084, + -264.7605296121911, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 1.356777360120209, + -262.16245340083776, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -0.14322263987979023, + -259.56437718948445, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -1.6432226398797896, + -256.96630097813113, + 0.18223991789008132 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1.6432226398797896, + -256.96630097813113, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -4.241298851233106, + -255.46630097813113, + 0.18223991789008132 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -6.839375062586422, + -253.96630097813113, + 0.18223991789008132 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-58-16_845563291/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-58-16_845563291/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6275bfcef0e7fbb304e1b93d1ee0ac2de6e4b66 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_14-58-16_845563291/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -281.5155336345647, + -85.70583671284601, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -283.0155336345647, + -88.30391292419932, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.5155336345647, + -90.90198913555264, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -286.0155336345647, + -93.50006534690596, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.5155336345647, + -96.09814155825927, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.0155336345647, + -98.69621776961259, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.5155336345647, + -101.2942939809659, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -292.0155336345647, + -103.89237019231922, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.5155336345647, + -106.49044640367254, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -295.0155336345647, + -109.08852261502585, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.5155336345647, + -111.68659882637917, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -298.0155336345647, + -114.28467503773248, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -299.5155336345647, + -116.8827512490858, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -301.0155336345647, + -119.48082746043912, + 0.6443254982537674 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -301.0155336345647, + -119.48082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -303.613609845918, + -120.98082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -306.2116860572713, + -122.48082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -308.80976226862464, + -123.98082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -311.40783847997795, + -125.48082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.00591469133127, + -126.98082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -316.6039909026846, + -128.48082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -319.2020671140379, + -129.98082746043912, + 0.6443254982537674 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -321.8001433253912, + -131.48082746043912, + 0.6443254982537674 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-10-34_551836836/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-10-34_551836836/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c924684223e913608c60690c6fe59415e065bff7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-10-34_551836836/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -180.90897744244376, + -425.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -183.50705365379707, + -426.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.1051298651504, + -428.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -188.7032060765037, + -429.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -191.30128228785702, + -431.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -193.89935849921034, + -432.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -196.49743471056365, + -434.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -199.09551092191697, + -435.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -201.69358713327028, + -437.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -204.2916633446236, + -438.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -206.88973955597692, + -440.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -209.48781576733023, + -441.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -212.08589197868355, + -443.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -214.68396819003686, + -444.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -217.28204440139018, + -446.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -219.8801206127435, + -447.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -222.4781968240968, + -449.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -225.07627303545013, + -450.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -227.67434924680344, + -452.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -230.27242545815676, + -453.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -232.87050166951008, + -455.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -235.4685778808634, + -456.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -238.0666540922167, + -458.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -240.66473030357002, + -459.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.26280651492334, + -461.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -245.86088272627666, + -462.9731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -248.45895893762997, + -464.4731261315644, + -4.843008574758261 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -248.45895893762997, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -251.45895893762997, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -254.45895893762997, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -257.45895893763, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -260.45895893763, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -263.45895893763, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -266.45895893763, + -464.4731261315644, + -4.843008574758261 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -269.45895893763, + -464.4731261315644, + -4.843008574758261 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-11-20_1255387090/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-11-20_1255387090/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..455b3d0ab80f847042890bb5fa0354d7ab6166ad --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-11-20_1255387090/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -743.1999407996487, + -53.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -745.798017011002, + -51.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.3960932223554, + -50.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -750.9941694337087, + -48.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -753.5922456450621, + -47.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -756.1903218564155, + -45.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -758.7883980677689, + -44.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -761.3864742791222, + -42.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -763.9845504904756, + -41.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -766.582626701829, + -39.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.1807029131824, + -38.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -771.7787791245357, + -36.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.3768553358891, + -35.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -776.9749315472425, + -33.6171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -779.5730077585958, + -32.1171446178808, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -782.1710839699492, + -30.617144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -784.7691601813026, + -29.117144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -787.367236392656, + -27.617144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -789.9653126040093, + -26.117144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -792.5633888153627, + -24.617144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -795.1614650267161, + -23.117144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -797.7595412380695, + -21.617144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -800.3576174494228, + -20.117144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -802.9556936607762, + -18.617144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -805.5537698721296, + -17.117144617880797, + 0.9257129122852987 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -805.5537698721296, + -17.117144617880797, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -807.0537698721296, + -14.51906840652748, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -808.5537698721296, + -11.920992195174165, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -810.0537698721296, + -9.322915983820849, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -811.5537698721296, + -6.724839772467533, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -813.0537698721296, + -4.126763561114217, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -814.5537698721296, + -1.5286873497609008, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -816.0537698721296, + 1.0693888615924152, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -817.5537698721296, + 3.667465072945731, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -819.0537698721296, + 6.265541284299047, + 0.9257129122852987 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -820.5537698721296, + 8.863617495652363, + 0.9257129122852987 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-16-31_1460082195/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-16-31_1460082195/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..432c52e5e7a1faa5d011531b2bc8a688e018257f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-16-31_1460082195/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -745.8151218148736, + 94.32418656371856, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -747.3151218148736, + 96.92226277507187, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.8151218148736, + 99.52033898642519, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -750.3151218148736, + 102.1184151977785, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.8151218148736, + 104.71649140913182, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -753.3151218148736, + 107.31456762048514, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -754.8151218148736, + 109.91264383183845, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -756.3151218148736, + 112.51072004319177, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -757.8151218148736, + 115.10879625454508, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -759.3151218148736, + 117.7068724658984, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.8151218148736, + 120.30494867725172, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.3151218148736, + 122.90302488860503, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.8151218148736, + 125.50110109995835, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -765.3151218148736, + 128.09917731131168, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -766.8151218148736, + 130.697253522665, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.3151218148736, + 133.2953297340183, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -769.8151218148736, + 135.89340594537163, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -771.3151218148736, + 138.49148215672494, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.8151218148736, + 141.08955836807826, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -774.3151218148736, + 143.68763457943157, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -775.8151218148736, + 146.2857107907849, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -777.3151218148736, + 148.8837870021382, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.8151218148736, + 151.48186321349152, + 3.837202501018149 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.8151218148736, + 151.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.8151218148736, + 154.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -778.8151218148736, + 157.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -778.8151218148736, + 160.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.8151218148736, + 163.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -778.8151218148736, + 166.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -778.8151218148736, + 169.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -778.8151218148736, + 172.48186321349152, + 3.837202501018149 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -778.8151218148736, + 175.48186321349152, + 3.837202501018149 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-14_431530126/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-14_431530126/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6581ba1d25b56573c1b60e6d611fbf33d549fbeb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-2-14_431530126/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -183.20234424068727, + -307.56844987930054, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -184.70234424068727, + -310.16652609065386, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -186.20234424068727, + -312.7646023020072, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -187.70234424068727, + -315.3626785133605, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -189.20234424068727, + -317.9607547247138, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -190.70234424068727, + -320.5588309360671, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -192.20234424068727, + -323.15690714742044, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.70234424068727, + -325.75498335877376, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -195.20234424068727, + -328.3530595701271, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -196.70234424068727, + -330.9511357814804, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -198.20234424068727, + -333.5492119928337, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -199.70234424068727, + -336.147288204187, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -201.20234424068727, + -338.74536441554034, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -202.70234424068727, + -341.34344062689365, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -204.20234424068727, + -343.94151683824697, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -205.70234424068727, + -346.5395930496003, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -207.20234424068727, + -349.1376692609536, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -208.70234424068727, + -351.7357454723069, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -210.20234424068727, + -354.33382168366023, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -211.70234424068727, + -356.93189789501355, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -213.20234424068727, + -359.52997410636686, + 4.387771757580808 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -213.20234424068727, + -359.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -213.20234424068727, + -362.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -213.20234424068727, + -365.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -213.20234424068727, + -368.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -213.20234424068727, + -371.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -213.20234424068727, + -374.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -213.20234424068727, + -377.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -213.20234424068727, + -380.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -213.20234424068727, + -383.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -213.20234424068727, + -386.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -213.20234424068727, + -389.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -213.20234424068727, + -392.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -213.20234424068727, + -395.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -213.20234424068727, + -398.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -213.20234424068727, + -401.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -213.20234424068727, + -404.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -213.20234424068727, + -407.52997410636686, + 4.387771757580808 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -213.20234424068727, + -410.52997410636686, + 4.387771757580808 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-55_157272379/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-55_157272379/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f4bd6c1e04a080b472ee6a7ffaf30fb7d9019a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-21-55_157272379/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.2383740595403, + 116.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -807.2383740595403, + 113.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -807.2383740595403, + 110.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -807.2383740595403, + 107.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.2383740595403, + 104.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -807.2383740595403, + 101.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.2383740595403, + 98.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.2383740595403, + 95.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -807.2383740595403, + 92.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -807.2383740595403, + 89.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -807.2383740595403, + 86.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -807.2383740595403, + 83.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -807.2383740595403, + 80.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.2383740595403, + 77.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -807.2383740595403, + 74.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -807.2383740595403, + 71.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -807.2383740595403, + 68.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -807.2383740595403, + 65.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -807.2383740595403, + 62.66313335429116, + 0.943016891100048 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -807.2383740595403, + 62.66313335429116, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -808.7383740595403, + 60.065057142937846, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -810.2383740595403, + 57.46698093158453, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -811.7383740595403, + 54.868904720231214, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -813.2383740595403, + 52.2708285088779, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -814.7383740595403, + 49.67275229752458, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -816.2383740595403, + 47.074676086171266, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -817.7383740595403, + 44.47659987481795, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -819.2383740595403, + 41.878523663464634, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -820.7383740595403, + 39.28044745211132, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -822.2383740595403, + 36.682371240758, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -823.7383740595403, + 34.084295029404686, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -825.2383740595403, + 31.48621881805137, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -826.7383740595403, + 28.888142606698054, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -828.2383740595403, + 26.290066395344738, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -829.7383740595403, + 23.69199018399142, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -831.2383740595403, + 21.093913972638106, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -832.7383740595403, + 18.49583776128479, + 0.943016891100048 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -834.2383740595403, + 15.897761549931474, + 0.943016891100048 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-22-26_1910858270/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-22-26_1910858270/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..29534332706395d3b3a51ca95630ac16a4e3bb45 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-22-26_1910858270/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -552.2281459588064, + 126.55309921123015, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -553.7281459588064, + 123.95502299987683, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -555.2281459588064, + 121.35694678852352, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -556.7281459588064, + 118.7588705771702, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -558.2281459588064, + 116.16079436581688, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -559.7281459588064, + 113.56271815446357, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -561.2281459588064, + 110.96464194311025, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -562.7281459588064, + 108.36656573175694, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -564.2281459588064, + 105.76848952040362, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -565.7281459588064, + 103.1704133090503, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -567.2281459588064, + 100.57233709769699, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -568.7281459588064, + 97.97426088634367, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -570.2281459588064, + 95.37618467499036, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -571.7281459588064, + 92.77810846363704, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -573.2281459588064, + 90.18003225228372, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -574.7281459588064, + 87.58195604093041, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -576.2281459588064, + 84.98387982957709, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -577.7281459588064, + 82.38580361822378, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -579.2281459588064, + 79.78772740687046, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -580.7281459588064, + 77.18965119551714, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -582.2281459588064, + 74.59157498416383, + -2.7946327274433846 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -582.2281459588064, + 74.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -584.8262221701598, + 73.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -587.4242983815132, + 71.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -590.0223745928665, + 70.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -592.6204508042199, + 68.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -595.2185270155733, + 67.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -597.8166032269266, + 65.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -600.41467943828, + 64.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -603.0127556496334, + 62.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -605.6108318609868, + 61.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -608.2089080723401, + 59.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -610.8069842836935, + 58.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -613.4050604950469, + 56.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -616.0031367064003, + 55.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -618.6012129177536, + 53.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -621.199289129107, + 52.09157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -623.7973653404604, + 50.59157498416383, + -2.7946327274433846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -626.3954415518137, + 49.09157498416383, + -2.7946327274433846 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-51_1582152040/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-51_1582152040/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c477205b69292d4dd120218659002c338e38b35 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-23-51_1582152040/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 382.31685437995196, + -192.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 382.31685437995196, + -189.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 382.31685437995196, + -186.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 382.31685437995196, + -183.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 382.31685437995196, + -180.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 382.31685437995196, + -177.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 382.31685437995196, + -174.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.31685437995196, + -171.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 382.31685437995196, + -168.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 382.31685437995196, + -165.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.31685437995196, + -162.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 382.31685437995196, + -159.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 382.31685437995196, + -156.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 382.31685437995196, + -153.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 382.31685437995196, + -150.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 382.31685437995196, + -147.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 382.31685437995196, + -144.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 382.31685437995196, + -141.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 382.31685437995196, + -138.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 382.31685437995196, + -135.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 382.31685437995196, + -132.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 382.31685437995196, + -129.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 382.31685437995196, + -126.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 382.31685437995196, + -123.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 382.31685437995196, + -120.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 382.31685437995196, + -117.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 382.31685437995196, + -114.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 382.31685437995196, + -111.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 382.31685437995196, + -108.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 382.31685437995196, + -105.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 382.31685437995196, + -102.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 382.31685437995196, + -99.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 382.31685437995196, + -96.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 382.31685437995196, + -93.35702693336324, + -2.670004729042897 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 382.31685437995196, + -93.35702693336324, + -2.670004729042897 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 382.31685437995196, + -93.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 379.71877816859865, + -91.85702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 377.12070195724533, + -90.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 374.522625745892, + -88.85702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 371.9245495345387, + -87.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 369.3264733231854, + -85.85702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 366.72839711183207, + -84.35702693336324, + -2.670004729042897 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + 364.13032090047875, + -82.85702693336324, + -2.670004729042897 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-57_628966950/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-57_628966950/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..83bd647ebd77ab23112a1babfdb756041b57ec95 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-25-57_628966950/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -846.5888113236306, + 241.1171142021496, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -843.9907351122772, + 242.6171142021496, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -841.3926589009238, + 244.1171142021496, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -838.7945826895705, + 245.6171142021496, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -836.1965064782171, + 247.1171142021496, + 2.8350067836865867 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -836.1965064782171, + 247.1171142021496, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -834.6965064782171, + 249.7151904135029, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -833.1965064782171, + 252.31326662485623, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -831.6965064782171, + 254.91134283620954, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -830.1965064782171, + 257.50941904756286, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -828.6965064782171, + 260.1074952589162, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -827.1965064782171, + 262.7055714702695, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -825.6965064782171, + 265.3036476816228, + 2.8350067836865867 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -825.6965064782171, + 265.3036476816228, + 2.8350067836865867 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -823.0984302668637, + 266.8036476816228, + 2.8350067836865867 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-27-41_1982945082/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-27-41_1982945082/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d8126cac3d1232ab4d45ee45061b2f1d021456b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-27-41_1982945082/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -793.0627879106906, + 74.53360962216654, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -791.5627879106906, + 71.93553341081322, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.0627879106906, + 69.3374571994599, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -788.5627879106906, + 66.73938098810659, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -787.0627879106906, + 64.14130477675327, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -785.5627879106906, + 61.54322856539996, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.0627879106906, + 58.94515235404664, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -782.5627879106906, + 56.347076142693325, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -781.0627879106906, + 53.74899993134001, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -779.5627879106906, + 51.15092371998669, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -778.0627879106906, + 48.55284750863338, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -776.5627879106906, + 45.95477129728006, + 4.335799179518633 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -776.5627879106906, + 45.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -773.9647116993374, + 44.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -771.366635487984, + 42.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -768.7685592766306, + 41.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.1704830652773, + 39.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -763.5724068539239, + 38.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -760.9743306425705, + 36.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -758.3762544312171, + 35.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -755.7781782198638, + 33.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -753.1801020085104, + 32.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -750.582025797157, + 30.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -747.9839495858037, + 29.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.3858733744503, + 27.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -742.7877971630969, + 26.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -740.1897209517435, + 24.95477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -737.5916447403902, + 23.45477129728006, + 4.335799179518633 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -737.5916447403902, + 23.45477129728006, + 4.335799179518633 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -734.5916447403902, + 23.45477129728006, + 4.335799179518633 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-2_204102747/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-2_204102747/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0146a7cdfacd6da7df9076c67d847498980b4929 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-2_204102747/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 481.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 484.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 487.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 490.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 490.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 490.63513789379095, + 293.0095137747188, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 492.13513789379095, + 290.4114375633655, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 493.63513789379095, + 287.8133613520122, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 495.13513789379095, + 285.21528514065886, + 3.1880622903995377 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 495.13513789379095, + 285.21528514065886, + 3.1880622903995377 + ], + "type": "turn left", + "value": 30, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 495.13513789379095, + 285.21528514065886, + 3.1880622903995377 + ], + "type": "go straight", + "value": 3, + "yaw": -2.220446049250313e-16 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 498.13513789379095, + 285.21528514065886, + 3.1880622903995377 + ], + "type": "stop", + "value": 0, + "yaw": -2.220446049250313e-16 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-47_372160269/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-47_372160269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0783b84ffefb1a00593e3634912ae50f101c2f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-34-47_372160269/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 84.58795692823776, + -250.92550162434136, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 86.08795692823776, + -253.52357783569468, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 87.58795692823776, + -256.12165404704797, + -4.859819598210873 + ], + "type": "turn left", + "value": 30, + "yaw": -1.047197551196593 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 87.58795692823776, + -256.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982942 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 90.18603313959107, + -257.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 92.78410935094439, + -259.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 95.3821855622977, + -260.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 97.98026177365102, + -262.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 100.57833798500434, + -263.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 103.17641419635765, + -265.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.77449040771097, + -266.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 108.37256661906429, + -268.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 110.9706428304176, + -269.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 113.56871904177092, + -271.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 116.16679525312423, + -272.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 118.76487146447755, + -274.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 121.36294767583087, + -275.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 123.96102388718418, + -277.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 126.5591000985375, + -278.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 129.15717630989081, + -280.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 131.75525252124413, + -281.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 134.35332873259745, + -283.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 136.95140494395076, + -284.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 139.54948115530408, + -286.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 142.1475573666574, + -287.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 144.7456335780107, + -289.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 147.34370978936403, + -290.62165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 149.94178600071734, + -292.12165404704797, + -4.859819598210873 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 149.94178600071734, + -292.12165404704797, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 151.44178600071734, + -294.7197302584013, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 152.94178600071734, + -297.3178064697546, + -4.859819598210873 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 154.44178600071734, + -299.9158826811079, + -4.859819598210873 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-36-47_980356728/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-36-47_980356728/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f954c53f1c56535ae33a06f98d80a904349d098d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-36-47_980356728/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 453.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 456.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 459.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 462.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 465.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 468.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 471.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 474.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 477.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 480.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 483.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 486.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 489.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 492.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 495.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 495.778106426255, + 421.07665419771104, + -2.6793099018503095 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 498.37618263760834, + 419.57665419771104, + -2.6793099018503095 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-38-41_811742698/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-38-41_811742698/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53aa175a62f8b23e3e67eb744c062ed6958efa20 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-38-41_811742698/pose.jsonl @@ -0,0 +1,209 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -841.7387049703339, + 331.34860237655175, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -840.2387049703339, + 328.75052616519844, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -838.7387049703339, + 326.1524499538451, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -837.2387049703339, + 323.5543737424918, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -835.7387049703339, + 320.9562975311385, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -834.2387049703339, + 318.3582213197852, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -832.7387049703339, + 315.76014510843186, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -831.2387049703339, + 313.16206889707854, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -829.7387049703339, + 310.5639926857252, + -3.6216234382410035 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -829.7387049703339, + 310.5639926857252, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -827.1406287589805, + 309.0639926857252, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -824.5425525476271, + 307.5639926857252, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -821.9444763362737, + 306.0639926857252, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -819.3464001249204, + 304.5639926857252, + -3.6216234382410035 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -816.748323913567, + 303.0639926857252, + -3.6216234382410035 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-41-15_2025554010/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-41-15_2025554010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3267a7aa274dc268fa17e2ad54803aaf7320b41c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-41-15_2025554010/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -693.2555423034843, + 122.01237606944731, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -695.8536185148375, + 123.51237606944731, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -698.4516947261909, + 125.01237606944731, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -701.0497709375443, + 126.51237606944731, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -703.6478471488977, + 128.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915077 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -706.245923360251, + 129.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.8439995716044, + 131.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -711.4420757829578, + 132.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.0401519943111, + 134.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -716.6382282056645, + 135.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.2363044170179, + 137.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -721.8343806283713, + 138.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -724.4324568397246, + 140.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -727.030533051078, + 141.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -729.6286092624314, + 143.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -732.2266854737848, + 144.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -734.8247616851381, + 146.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -737.4228378964915, + 147.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -740.0209141078449, + 149.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -742.6189903191982, + 150.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -745.2170665305516, + 152.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -747.815142741905, + 153.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -750.4132189532584, + 155.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -753.0112951646117, + 156.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -755.6093713759651, + 158.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -758.2074475873185, + 159.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -760.8055237986719, + 161.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.4036000100252, + 162.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -766.0016762213786, + 164.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -768.599752432732, + 165.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -771.1978286440853, + 167.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -773.7959048554387, + 168.5123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -776.3939810667921, + 170.0123760694473, + 3.711369306665656 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -776.3939810667921, + 170.0123760694473, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -777.8939810667921, + 172.61045228080062, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -779.3939810667921, + 175.20852849215393, + 3.711369306665656 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -780.8939810667921, + 177.80660470350725, + 3.711369306665656 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-43-35_661955081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-43-35_661955081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..211908ae74ee80246375c92d7cd77c406901b455 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-43-35_661955081/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -684.9037448780749, + 317.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -684.9037448780749, + 314.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -684.9037448780749, + 311.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -684.9037448780749, + 308.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -684.9037448780749, + 305.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -684.9037448780749, + 302.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -684.9037448780749, + 299.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -684.9037448780749, + 296.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -684.9037448780749, + 293.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -684.9037448780749, + 290.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -684.9037448780749, + 287.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -684.9037448780749, + 284.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -684.9037448780749, + 281.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -684.9037448780749, + 278.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -684.9037448780749, + 275.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.9037448780749, + 272.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -684.9037448780749, + 269.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -684.9037448780749, + 266.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.9037448780749, + 263.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -684.9037448780749, + 260.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -684.9037448780749, + 257.0943437794032, + -0.4972714588764706 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -684.9037448780749, + 257.0943437794032, + -0.4972714588764706 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -684.9037448780749, + 257.0943437794032, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.5018210894282, + 255.59434377940318, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -690.0998973007815, + 254.09434377940318, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -692.6979735121349, + 252.59434377940318, + -0.4972714588764706 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.6979735121349, + 252.59434377940318, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.1979735121349, + 249.99626756804986, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -695.6979735121349, + 247.39819135669654, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -697.1979735121349, + 244.80011514534323, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -698.6979735121349, + 242.2020389339899, + -0.4972714588764706 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -700.1979735121349, + 239.6039627226366, + -0.4972714588764706 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-46-28_1470332231/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-46-28_1470332231/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ee11e186a8df7ed5c9aef3718ffd0f134c33faa9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-46-28_1470332231/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -411.99411528900725, + -472.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -409.39603907765394, + -470.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -406.7979628663006, + -469.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -404.1998866549473, + -467.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -401.601810443594, + -466.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -399.0037342322407, + -464.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -396.40565802088736, + -463.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -393.80758180953404, + -461.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -391.2095055981807, + -460.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -388.6114293868274, + -458.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -386.0133531754741, + -457.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -383.4152769641208, + -455.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -380.81720075276746, + -454.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -378.21912454141415, + -452.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -375.62104833006083, + -451.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -373.0229721187075, + -449.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -370.4248959073542, + -448.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.8268196960009, + -446.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -365.22874348464757, + -445.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -362.63066727329425, + -443.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -360.03259106194093, + -442.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -357.4345148505876, + -440.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -354.8364386392343, + -439.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -352.238362427881, + -437.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -349.64028621652767, + -436.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -347.04221000517435, + -434.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -344.44413379382104, + -433.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -341.8460575824677, + -431.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -339.2479813711144, + -430.45980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -336.6499051597611, + -428.95980524053306, + 0.8577256914672482 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -336.6499051597611, + -428.95980524053306, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -335.1499051597611, + -426.36172902917974, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -333.6499051597611, + -423.7636528178264, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -332.1499051597611, + -421.1655766064731, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -330.6499051597611, + -418.5675003951198, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -329.1499051597611, + -415.9694241837665, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -327.6499051597611, + -413.37134797241316, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -326.1499051597611, + -410.77327176105985, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -324.6499051597611, + -408.17519554970653, + 0.8577256914672482 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -323.1499051597611, + -405.5771193383532, + 0.8577256914672482 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-47-18_134591281/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-47-18_134591281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6459f9e56195a67960ed78a67344106916491f69 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-47-18_134591281/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -22.290315799249655, + 57.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -19.69223958789634, + 56.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -17.094163376543023, + 54.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -14.496087165189707, + 53.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -11.89801095383639, + 51.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -9.299934742483075, + 50.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -6.7018585311297585, + 48.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -4.1037823197764425, + 47.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1.5057061084231265, + 45.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 1.0923701029301895, + 44.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 3.6904463142835056, + 42.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 6.288522525636822, + 41.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 8.886598736990138, + 39.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 11.484674948343454, + 38.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 14.08275115969677, + 36.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 16.680827371050086, + 35.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 19.2789035824034, + 33.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.876979793756718, + 32.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 24.475056005110034, + 30.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 27.07313221646335, + 29.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 29.671208427816666, + 27.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.26928463916998, + 26.259410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 34.8673608505233, + 24.759410482422524, + -2.4451764942147465 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 34.8673608505233, + 24.759410482422524, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 36.3673608505233, + 22.161334271069208, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 37.8673608505233, + 19.563258059715892, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 39.3673608505233, + 16.965181848362576, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 40.8673608505233, + 14.36710563700926, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 42.3673608505233, + 11.769029425655944, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 43.8673608505233, + 9.170953214302628, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 45.3673608505233, + 6.572877002949312, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 46.8673608505233, + 3.974800791595996, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 48.3673608505233, + 1.37672458024268, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 49.8673608505233, + -1.221351631110636, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 51.3673608505233, + -3.819427842463952, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 52.8673608505233, + -6.417504053817268, + -2.4451764942147465 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 54.3673608505233, + -9.015580265170584, + -2.4451764942147465 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-5-49_672032919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-5-49_672032919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e0a67051232820162d5659ecaa3cb1c564dec8b1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-5-49_672032919/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -800.8826351033489, + -28.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -800.8826351033489, + -25.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -800.8826351033489, + -22.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -800.8826351033489, + -19.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -800.8826351033489, + -16.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -800.8826351033489, + -13.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -800.8826351033489, + -10.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -800.8826351033489, + -7.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -800.8826351033489, + -4.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.8826351033489, + -1.594668999333905, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -800.8826351033489, + 1.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -800.8826351033489, + 4.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -800.8826351033489, + 7.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -800.8826351033489, + 10.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -800.8826351033489, + 13.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -800.8826351033489, + 16.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -800.8826351033489, + 19.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -800.8826351033489, + 22.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -800.8826351033489, + 25.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -800.8826351033489, + 28.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -800.8826351033489, + 31.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -800.8826351033489, + 34.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -800.8826351033489, + 37.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -800.8826351033489, + 40.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -800.8826351033489, + 43.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -800.8826351033489, + 46.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -800.8826351033489, + 49.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -800.8826351033489, + 52.405331000666095, + 0.5341499639049232 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -800.8826351033489, + 52.405331000666095, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -799.3826351033489, + 55.00340721201941, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -797.8826351033489, + 57.60148342337273, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -796.3826351033489, + 60.19955963472604, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -794.8826351033489, + 62.79763584607936, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -793.3826351033489, + 65.39571205743268, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -791.8826351033489, + 67.99378826878599, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -790.3826351033489, + 70.59186448013931, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -788.8826351033489, + 73.18994069149262, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -787.3826351033489, + 75.78801690284594, + 0.5341499639049232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -785.8826351033489, + 78.38609311419926, + 0.5341499639049232 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-51-0_476152433/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-51-0_476152433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..718f1812dc883813daf502c8bc80a1e93703d902 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-51-0_476152433/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -483.9441683796934, + -156.74733660565767, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -485.4441683796934, + -159.34541281701098, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -486.9441683796934, + -161.9434890283643, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -488.4441683796934, + -164.5415652397176, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -489.9441683796934, + -167.13964145107093, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -491.4441683796934, + -169.73771766242425, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -492.9441683796934, + -172.33579387377756, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -494.4441683796934, + -174.93387008513088, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -495.9441683796934, + -177.5319462964842, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -497.4441683796934, + -180.1300225078375, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -498.9441683796934, + -182.72809871919083, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -500.4441683796934, + -185.32617493054414, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.9441683796934, + -187.92425114189746, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -503.4441683796934, + -190.52232735325077, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -504.9441683796934, + -193.1204035646041, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -506.4441683796934, + -195.7184797759574, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -507.9441683796934, + -198.31655598731072, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -509.4441683796934, + -200.91463219866404, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -510.9441683796934, + -203.51270841001735, + -3.522603128034688 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -510.9441683796934, + -203.51270841001735, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -510.9441683796934, + -206.51270841001735, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -510.9441683796934, + -209.51270841001735, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -510.9441683796934, + -212.51270841001735, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -510.9441683796934, + -215.51270841001735, + -3.522603128034688 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -510.9441683796934, + -218.51270841001735, + -3.522603128034688 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-52-16_1735079296/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-52-16_1735079296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f2786e2655e230b1864cffc3669cd6e97db5270 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-52-16_1735079296/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -421.907814327227, + -234.56800685910306, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -420.407814327227, + -231.96993064774975, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -418.907814327227, + -229.37185443639643, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -417.407814327227, + -226.77377822504312, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -415.907814327227, + -224.1757020136898, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -414.407814327227, + -221.57762580233648, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -412.907814327227, + -218.97954959098317, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -411.407814327227, + -216.38147337962985, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -409.907814327227, + -213.78339716827654, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -408.407814327227, + -211.18532095692322, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -406.907814327227, + -208.5872447455699, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -405.407814327227, + -205.9891685342166, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -403.907814327227, + -203.39109232286327, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -402.407814327227, + -200.79301611150996, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -400.907814327227, + -198.19493990015664, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -399.407814327227, + -195.59686368880332, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -397.907814327227, + -192.99878747745, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.407814327227, + -190.4007112660967, + 2.6007242118218734 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -396.407814327227, + -190.4007112660967, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.407814327227, + -187.4007112660967, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -396.407814327227, + -184.4007112660967, + 2.6007242118218734 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.407814327227, + -181.4007112660967, + 2.6007242118218734 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-11_1269400346/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-11_1269400346/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16f43345907e530efb242d4483868804fe5cdca9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-11_1269400346/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -919.5667168399478, + 430.40400766998016, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -921.0667168399478, + 427.80593145862684, + 3.5495354154499896 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -921.0667168399478, + 427.80593145862684, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.6647930513011, + 426.30593145862684, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -926.2628692626545, + 424.80593145862684, + 3.5495354154499896 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -926.2628692626545, + 424.80593145862684, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -927.7628692626545, + 422.2078552472735, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -929.2628692626545, + 419.6097790359202, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -930.7628692626545, + 417.0117028245669, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -932.2628692626545, + 414.4136266132136, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -933.7628692626545, + 411.81555040186026, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -935.2628692626545, + 409.21747419050695, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -936.7628692626545, + 406.61939797915363, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -938.2628692626545, + 404.0213217678003, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -939.7628692626545, + 401.423245556447, + 3.5495354154499896 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -939.7628692626545, + 401.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -939.7628692626545, + 398.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -939.7628692626545, + 395.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -939.7628692626545, + 392.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.7628692626545, + 389.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -939.7628692626545, + 386.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.7628692626545, + 383.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.7628692626545, + 380.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -939.7628692626545, + 377.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -939.7628692626545, + 374.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -939.7628692626545, + 371.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -939.7628692626545, + 368.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -939.7628692626545, + 365.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -939.7628692626545, + 362.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -939.7628692626545, + 359.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -939.7628692626545, + 356.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -939.7628692626545, + 353.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -939.7628692626545, + 350.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -939.7628692626545, + 347.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -939.7628692626545, + 344.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -939.7628692626545, + 341.423245556447, + 3.5495354154499896 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -939.7628692626545, + 338.423245556447, + 3.5495354154499896 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-29_114760235/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-29_114760235/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e622bc186ed7d7681cb9ef21a303c1a81fe7e8ab --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-7-29_114760235/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 277.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 271.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 268.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 265.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 262.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 259.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 256.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 253.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 250.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 247.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 244.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 241.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 238.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 235.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 232.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 232.97664743689563, + 794.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.37857122554232, + 792.6058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 227.780495014189, + 791.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 225.18241880283568, + 789.6058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.58434259148237, + 788.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 219.98626638012905, + 786.6058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 217.38819016877574, + 785.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 214.79011395742242, + 783.6058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 212.1920377460691, + 782.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 209.5939615347158, + 780.6058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 206.99588532336247, + 779.1058961139587, + 1.4684406495155091 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 204.39780911200916, + 777.6058961139587, + 1.4684406495155091 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-24_1910300925/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-24_1910300925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..afa72b38b4a7e4e50c576ea850287f417165964e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_15-9-24_1910300925/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -943.4239654907644, + 283.14109796825994, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -944.9239654907644, + 285.73917417961326, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -946.4239654907644, + 288.3372503909666, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -947.9239654907644, + 290.9353266023199, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -949.4239654907644, + 293.5334028136732, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -950.9239654907644, + 296.1314790250265, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -952.4239654907644, + 298.72955523637984, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -953.9239654907644, + 301.32763144773315, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -955.4239654907644, + 303.92570765908647, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -956.9239654907644, + 306.5237838704398, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.4239654907644, + 309.1218600817931, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -959.9239654907644, + 311.7199362931464, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -961.4239654907644, + 314.31801250449973, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.9239654907644, + 316.91608871585305, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -964.4239654907644, + 319.51416492720637, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -965.9239654907644, + 322.1122411385597, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -967.4239654907644, + 324.710317349913, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -968.9239654907644, + 327.3083935612663, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -970.4239654907644, + 329.90646977261963, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -971.9239654907644, + 332.50454598397295, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -973.4239654907644, + 335.10262219532626, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -974.9239654907644, + 337.7006984066796, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -976.4239654907644, + 340.2987746180329, + -0.27400746000595877 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -976.4239654907644, + 340.2987746180329, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -976.4239654907644, + 343.2987746180329, + -0.27400746000595877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -976.4239654907644, + 346.2987746180329, + -0.27400746000595877 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-0-39_1412277685/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-0-39_1412277685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7f07e9660177b904d69985684899be14205e1889 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-0-39_1412277685/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 266.40802875962237, + 102.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 269.0061049709757, + 100.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 271.604181182329, + 99.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 274.2022573936823, + 97.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 276.80033360503563, + 96.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 279.39840981638895, + 94.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 281.99648602774226, + 93.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 284.5945622390956, + 91.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 287.1926384504489, + 90.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 289.7907146618022, + 88.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.38879087315553, + 87.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 294.98686708450884, + 85.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 297.58494329586216, + 84.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 300.1830195072155, + 82.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 302.7810957185688, + 81.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 305.3791719299221, + 79.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 307.9772481412754, + 78.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 310.57532435262874, + 76.9044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 313.17340056398206, + 75.4044778814132, + -2.3190080896970833 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 313.17340056398206, + 75.4044778814132, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 314.67340056398206, + 72.80640167005988, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 316.17340056398206, + 70.20832545870657, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 317.67340056398206, + 67.61024924735325, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 319.17340056398206, + 65.01217303599994, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 320.67340056398206, + 62.41409682464662, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 322.17340056398206, + 59.816020613293304, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 323.67340056398206, + 57.21794440193999, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 325.17340056398206, + 54.61986819058667, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 326.67340056398206, + 52.021791979233356, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 328.17340056398206, + 49.42371576788004, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 329.67340056398206, + 46.825639556526724, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 331.17340056398206, + 44.22756334517341, + -2.3190080896970833 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 331.17340056398206, + 44.22756334517341, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 333.7714767753354, + 42.72756334517341, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 336.3695529866887, + 41.22756334517341, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 338.967629198042, + 39.72756334517341, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 341.5657054093953, + 38.22756334517341, + -2.3190080896970833 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 344.16378162074864, + 36.72756334517341, + -2.3190080896970833 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-26_1189641421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-26_1189641421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..35cf5e55e7b4bcfb8d1096c6e61d38c0b5835d75 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-26_1189641421/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -928.8212536978347, + 295.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -931.419329909188, + 297.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.0174061205414, + 298.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -936.6154823318948, + 300.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -939.2135585432482, + 301.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -941.8116347546015, + 303.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -944.4097109659549, + 304.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -947.0077871773083, + 306.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -949.6058633886616, + 307.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -952.203939600015, + 309.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -954.8020158113684, + 310.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -957.4000920227218, + 312.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.9981682340751, + 313.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.5962444454285, + 315.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -965.1943206567819, + 316.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -967.7923968681353, + 318.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -970.3904730794886, + 319.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -972.988549290842, + 321.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -975.5866255021954, + 322.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -978.1847017135487, + 324.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -980.7827779249021, + 325.59009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -983.3808541362555, + 327.09009846036463, + 0.4495120201983793 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -985.9789303476089, + 328.59009846036463, + 0.4495120201983793 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-39_1025202362/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-39_1025202362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7fee4c15c69d84ee462fca028c2efad1edf49107 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-40-39_1025202362/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -985.6995999940945, + 290.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.1015237827412, + 291.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.5034475713878, + 293.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -977.9053713600345, + 294.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -975.3072951486811, + 296.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -972.7092189373277, + 297.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -970.1111427259743, + 299.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -967.513066514621, + 300.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -964.9149903032676, + 302.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -962.3169140919142, + 303.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -959.7188378805608, + 305.4057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -957.1207616692075, + 306.9057569529616, + 4.783424232480268 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -957.1207616692075, + 306.9057569529616, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -955.6207616692075, + 309.5038331643149, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -954.1207616692075, + 312.10190937566824, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -952.6207616692075, + 314.69998558702156, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -951.1207616692075, + 317.2980617983749, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -949.6207616692075, + 319.8961380097282, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -948.1207616692075, + 322.4942142210815, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -946.6207616692075, + 325.0922904324348, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -945.1207616692075, + 327.69036664378814, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -943.6207616692075, + 330.28844285514145, + 4.783424232480268 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.1207616692075, + 332.88651906649477, + 4.783424232480268 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-55_1369133069/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-55_1369133069/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3aa16eb691feb0b2a5c4ba038b72a47961b59296 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-46-55_1369133069/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -374.38659106761224, + 123.33200503152486, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -375.88659106761224, + 120.73392882017154, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -377.38659106761224, + 118.13585260881823, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -378.88659106761224, + 115.53777639746491, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.38659106761224, + 112.9397001861116, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -381.88659106761224, + 110.34162397475828, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -383.38659106761224, + 107.74354776340496, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -384.88659106761224, + 105.14547155205165, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -386.38659106761224, + 102.54739534069833, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -387.88659106761224, + 99.94931912934501, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.38659106761224, + 97.3512429179917, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -390.88659106761224, + 94.75316670663838, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -392.38659106761224, + 92.15509049528507, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -393.88659106761224, + 89.55701428393175, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -395.38659106761224, + 86.95893807257843, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -396.88659106761224, + 84.36086186122512, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -398.38659106761224, + 81.7627856498718, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -399.88659106761224, + 79.16470943851849, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -401.38659106761224, + 76.56663322716517, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -402.88659106761224, + 73.96855701581185, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -404.38659106761224, + 71.37048080445854, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -405.88659106761224, + 68.77240459310522, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -407.38659106761224, + 66.1743283817519, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -408.88659106761224, + 63.57625217039859, + -4.47224799754389 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -408.88659106761224, + 63.57625217039859, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -411.48466727896556, + 62.07625217039859, + -4.47224799754389 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -414.0827434903189, + 60.57625217039859, + -4.47224799754389 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-48-14_1656478042/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-48-14_1656478042/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ecacc8c3d68579a500bb5e26441cce82130ab7a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-48-14_1656478042/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -367.5846259322405, + -264.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -367.5846259322405, + -267.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -367.5846259322405, + -270.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -367.5846259322405, + -273.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -367.5846259322405, + -276.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -367.5846259322405, + -279.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -367.5846259322405, + -282.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -367.5846259322405, + -285.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -367.5846259322405, + -288.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -367.5846259322405, + -291.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -367.5846259322405, + -294.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -367.5846259322405, + -297.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -367.5846259322405, + -300.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -367.5846259322405, + -303.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -367.5846259322405, + -306.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -367.5846259322405, + -309.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -367.5846259322405, + -312.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -367.5846259322405, + -315.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -367.5846259322405, + -318.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -367.5846259322405, + -321.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -367.5846259322405, + -324.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -367.5846259322405, + -327.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -367.5846259322405, + -330.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -367.5846259322405, + -333.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -367.5846259322405, + -336.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -367.5846259322405, + -339.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -367.5846259322405, + -342.183251318501, + -1.8992298217374337 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -367.5846259322405, + -342.183251318501, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -366.0846259322405, + -344.7813275298543, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -364.5846259322405, + -347.3794037412076, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -363.0846259322405, + -349.97747995256094, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -361.5846259322405, + -352.57555616391426, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -360.0846259322405, + -355.1736323752676, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -358.5846259322405, + -357.7717085866209, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -357.0846259322405, + -360.3697847979742, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -355.5846259322405, + -362.9678610093275, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -354.0846259322405, + -365.56593722068084, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -352.5846259322405, + -368.16401343203415, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -351.0846259322405, + -370.76208964338747, + -1.8992298217374337 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -349.5846259322405, + -373.3601658547408, + -1.8992298217374337 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-24_1914544919/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-24_1914544919/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce0ee4b39323e73d1908f84bb6e10c525ba39159 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-49-24_1914544919/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.940517481077862, + 57.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.342441269724546, + 56.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -6.74436505837123, + 54.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.146288847017914, + 53.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.5482126356645978, + 51.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.0498635756887182, + 50.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.6479397870420343, + 48.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 6.24601599839535, + 47.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.844092209748666, + 45.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.442168421101982, + 44.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 14.040244632455298, + 42.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.638320843808614, + 41.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 19.23639705516193, + 39.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.834473266515246, + 38.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.432549477868562, + 36.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 27.03062568922188, + 35.150204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 29.628701900575194, + 33.650204586390686, + -0.26545882657614683 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 29.628701900575194, + 33.650204586390686, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 31.128701900575194, + 31.05212837503737, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 32.628701900575194, + 28.454052163684054, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 34.128701900575194, + 25.855975952330738, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 35.628701900575194, + 23.25789974097742, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 37.128701900575194, + 20.659823529624106, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 38.628701900575194, + 18.06174731827079, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.128701900575194, + 15.463671106917474, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 41.628701900575194, + 12.865594895564158, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 43.128701900575194, + 10.267518684210842, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 44.628701900575194, + 7.669442472857526, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 46.128701900575194, + 5.07136626150421, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 47.628701900575194, + 2.4732900501508936, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 49.128701900575194, + -0.12478616120242236, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 50.628701900575194, + -2.7228623725557384, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 52.128701900575194, + -5.320938583909054, + -0.26545882657614683 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 53.628701900575194, + -7.91901479526237, + -0.26545882657614683 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-31_749241873/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-31_749241873/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ad306fe819fc063ee25e7417263df328832008e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_16-52-31_749241873/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -630.9461254786193, + 419.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -630.9461254786193, + 422.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -630.9461254786193, + 425.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -630.9461254786193, + 428.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -630.9461254786193, + 431.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -630.9461254786193, + 434.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -630.9461254786193, + 437.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -630.9461254786193, + 440.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -630.9461254786193, + 443.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -630.9461254786193, + 446.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -630.9461254786193, + 449.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -630.9461254786193, + 452.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -630.9461254786193, + 455.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -630.9461254786193, + 458.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -630.9461254786193, + 461.1030347088906, + -0.8213875606861967 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -630.9461254786193, + 461.1030347088906, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -632.4461254786193, + 463.70111092024393, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -633.9461254786193, + 466.29918713159725, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -635.4461254786193, + 468.89726334295057, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -636.9461254786193, + 471.4953395543039, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -638.4461254786193, + 474.0934157656572, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -639.9461254786193, + 476.6914919770105, + -0.8213875606861967 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -639.9461254786193, + 476.6914919770105, + -0.8213875606861967 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.9461254786193, + 479.6914919770105, + -0.8213875606861967 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-52_822890675/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-52_822890675/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70f2abb382a1641653998844afe21a53daf9aaf1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-11-52_822890675/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -48.35229468211364, + 790.4387716712641, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -46.85229468211364, + 787.8406954599109, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -45.35229468211364, + 785.2426192485575, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -43.85229468211364, + 782.6445430372041, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -42.35229468211364, + 780.0464668258508, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -40.85229468211364, + 777.4483906144974, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.35229468211364, + 774.850314403144, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -37.85229468211364, + 772.2522381917906, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -36.35229468211364, + 769.6541619804373, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -34.85229468211364, + 767.0560857690839, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -33.35229468211364, + 764.4580095577305, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -31.852294682113637, + 761.8599333463771, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -30.352294682113637, + 759.2618571350238, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -28.852294682113637, + 756.6637809236704, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -27.352294682113637, + 754.065704712317, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -25.852294682113637, + 751.4676285009637, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -24.352294682113637, + 748.8695522896103, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -22.852294682113637, + 746.2714760782569, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -21.352294682113637, + 743.6733998669035, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -19.852294682113637, + 741.0753236555502, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -18.352294682113637, + 738.4772474441968, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -16.852294682113637, + 735.8791712328434, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -15.352294682113637, + 733.28109502149, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -13.852294682113637, + 730.6830188101367, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -12.352294682113637, + 728.0849425987833, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -10.852294682113637, + 725.4868663874299, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -9.352294682113637, + 722.8887901760766, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -7.852294682113637, + 720.2907139647232, + 2.6684554840299723 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -7.852294682113637, + 720.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -7.852294682113637, + 717.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -7.852294682113637, + 714.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -7.852294682113637, + 711.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -7.852294682113637, + 708.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -7.852294682113637, + 705.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -7.852294682113637, + 702.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -7.852294682113637, + 699.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -7.852294682113637, + 696.2907139647232, + 2.6684554840299723 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -7.852294682113637, + 693.2907139647232, + 2.6684554840299723 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-15-18_112805732/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-15-18_112805732/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ca8e5810ebc1b6c65e72ea5f00742dd3f8e40584 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-15-18_112805732/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -591.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -594.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -597.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -600.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -603.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -606.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -609.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -612.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -615.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -618.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -621.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -624.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -627.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -630.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -633.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -636.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -639.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -642.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -645.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -648.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -651.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -654.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -657.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -660.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -660.3204773281236, + 261.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -662.918553539477, + 260.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -665.5166297508304, + 258.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -668.1147059621837, + 257.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.7127821735371, + 255.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -673.3108583848905, + 254.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -675.9089345962439, + 252.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -678.5070108075972, + 251.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.1050870189506, + 249.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -683.703163230304, + 248.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -686.3012394416573, + 246.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -688.8993156530107, + 245.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -691.4973918643641, + 243.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -694.0954680757175, + 242.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -696.6935442870708, + 240.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -699.2916204984242, + 239.27061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -701.8896967097776, + 237.77061670870006, + -1.2647922083680498 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -704.487772921131, + 236.27061670870006, + -1.2647922083680498 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-19-11_439493451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-19-11_439493451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79c19ef5aa07fc490f2fafd8923f11432ca7d01a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-19-11_439493451/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -279.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -276.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -273.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -270.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -267.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -267.03661477686086, + -411.542795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -264.43853856550754, + -413.042795710132, + 4.0101484385596216 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -264.43853856550754, + -413.042795710132, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -262.93853856550754, + -415.6408719214853, + 4.0101484385596216 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -262.93853856550754, + -415.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -260.3404623541542, + -417.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -257.7423861428009, + -418.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -255.1443099314476, + -420.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -252.54623372009428, + -421.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -249.94815750874096, + -423.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -247.35008129738765, + -424.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -244.75200508603433, + -426.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -242.15392887468101, + -427.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -239.5558526633277, + -429.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -236.95777645197438, + -430.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -234.35970024062107, + -432.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -231.76162402926775, + -433.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -229.16354781791443, + -435.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -226.56547160656112, + -436.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -223.9673953952078, + -438.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -221.3693191838545, + -439.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -218.77124297250117, + -441.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -216.17316676114785, + -442.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -213.57509054979454, + -444.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -210.97701433844122, + -445.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -208.3789381270879, + -447.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -205.7808619157346, + -448.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -203.18278570438127, + -450.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -200.58470949302796, + -451.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -197.98663328167464, + -453.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -195.38855707032133, + -454.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -192.790480858968, + -456.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -190.1924046476147, + -457.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -187.59432843626138, + -459.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -184.99625222490806, + -460.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -182.39817601355475, + -462.1408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -179.80009980220143, + -463.6408719214853, + 4.0101484385596216 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -177.2020235908481, + -465.1408719214853, + 4.0101484385596216 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-2-16_1264095060/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-2-16_1264095060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c80bca0204de6617afe1ef87885aecb3874f696 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-2-16_1264095060/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -25.803924374921934, + -168.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -25.803924374921934, + -171.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -25.803924374921934, + -174.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -25.803924374921934, + -177.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -25.803924374921934, + -180.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -25.803924374921934, + -183.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -25.803924374921934, + -186.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -25.803924374921934, + -189.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -25.803924374921934, + -192.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -25.803924374921934, + -195.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -25.803924374921934, + -198.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -25.803924374921934, + -201.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -25.803924374921934, + -204.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -25.803924374921934, + -207.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -25.803924374921934, + -210.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -25.803924374921934, + -213.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -25.803924374921934, + -216.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -25.803924374921934, + -219.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -25.803924374921934, + -222.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -25.803924374921934, + -225.8531618665203, + 0.7556115319888699 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -25.803924374921934, + -225.8531618665203, + 0.7556115319888699 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -25.803924374921934, + -225.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -23.205848163568618, + -227.3531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -20.607771952215302, + -228.8531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -18.009695740861986, + -230.3531618665203, + 0.7556115319888699 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -18.009695740861986, + -230.3531618665203, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -16.509695740861986, + -232.95123807787363, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -15.009695740861986, + -235.54931428922694, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -13.509695740861986, + -238.14739050058026, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -12.009695740861986, + -240.74546671193357, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -10.509695740861986, + -243.3435429232869, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -9.009695740861986, + -245.9416191346402, + 0.7556115319888699 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -7.509695740861986, + -248.53969534599352, + 0.7556115319888699 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-22_1622597488/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-22_1622597488/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..41057f2e736d30462ccc32ff912db17301b5f038 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-20-22_1622597488/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -621.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -618.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -615.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -612.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -606.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -603.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -600.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -597.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -594.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -591.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -588.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -585.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -582.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -582.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -582.118375428851, + 178.19930072291757, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -580.618375428851, + 180.7973769342709, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -579.118375428851, + 183.3954531456242, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -577.618375428851, + 185.99352935697752, + -0.21920471629194438 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -577.618375428851, + 185.99352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -575.0202992174977, + 187.49352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -572.4222230061443, + 188.99352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -569.824146794791, + 190.49352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -567.2260705834376, + 191.99352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -564.6279943720842, + 193.49352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -562.0299181607309, + 194.99352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -559.4318419493775, + 196.49352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -556.8337657380241, + 197.99352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -554.2356895266707, + 199.49352935697752, + -0.21920471629194438 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -551.6376133153174, + 200.99352935697752, + -0.21920471629194438 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-6_1275373743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-6_1275373743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16b3721437f4d7f27ce2994d853af77e8299e43c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-24-6_1275373743/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -118.77384830174827, + -17.176310115115704, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -120.27384830174827, + -19.77438632646902, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -121.77384830174827, + -22.372462537822337, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -123.27384830174827, + -24.970538749175653, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -124.77384830174827, + -27.56861496052897, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -126.27384830174827, + -30.166691171882285, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -127.77384830174827, + -32.7647673832356, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -129.27384830174827, + -35.36284359458892, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -130.77384830174827, + -37.96091980594223, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -132.27384830174827, + -40.55899601729555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -133.77384830174827, + -43.157072228648865, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -135.27384830174827, + -45.75514844000218, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -136.77384830174827, + -48.3532246513555, + 2.989343406501101 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.77384830174827, + -48.3532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -139.3719245131016, + -49.8532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -141.9700007244549, + -51.3532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -144.56807693580822, + -52.8532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -147.16615314716154, + -54.3532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -149.76422935851485, + -55.8532246513555, + 2.989343406501101 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -149.76422935851485, + -55.8532246513555, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -151.26422935851485, + -58.45130086270881, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -152.76422935851485, + -61.04937707406213, + 2.989343406501101 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -154.26422935851485, + -63.647453285415445, + 2.989343406501101 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-28-25_1884661237/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-28-25_1884661237/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..995fc1ebaf31910597ce7f006c732a71d75eee60 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-28-25_1884661237/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -660.5218773412867, + 163.91575848164456, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -662.0218773412867, + 166.51383469299788, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -663.5218773412867, + 169.1119109043512, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -665.0218773412867, + 171.7099871157045, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -666.5218773412867, + 174.30806332705782, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -668.0218773412867, + 176.90613953841114, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.5218773412867, + 179.50421574976446, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -671.0218773412867, + 182.10229196111777, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -672.5218773412867, + 184.7003681724711, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.0218773412867, + 187.2984443838244, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -675.5218773412867, + 189.89652059517772, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.0218773412867, + 192.49459680653104, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -678.5218773412867, + 195.09267301788435, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -680.0218773412867, + 197.69074922923767, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -681.5218773412867, + 200.28882544059098, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.0218773412867, + 202.8869016519443, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -684.5218773412867, + 205.48497786329762, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -686.0218773412867, + 208.08305407465093, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -687.5218773412867, + 210.68113028600425, + -3.912985337203544 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.5218773412867, + 210.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -687.5218773412867, + 213.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -687.5218773412867, + 216.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -687.5218773412867, + 219.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.5218773412867, + 222.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.5218773412867, + 225.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -687.5218773412867, + 228.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.5218773412867, + 231.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -687.5218773412867, + 234.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -687.5218773412867, + 237.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.5218773412867, + 240.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.5218773412867, + 243.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.5218773412867, + 246.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -687.5218773412867, + 249.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -687.5218773412867, + 252.68113028600425, + -3.912985337203544 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -687.5218773412867, + 255.68113028600425, + -3.912985337203544 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-3-28_1984210012/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-3-28_1984210012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ce9fa7159c4c3ca6e7edaae7bc950329245b9cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-3-28_1984210012/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -243.769226001682, + -413.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.17114979032868, + -414.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -238.57307357897537, + -416.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -235.97499736762205, + -417.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -233.37692115626874, + -419.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -230.77884494491542, + -420.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -228.1807687335621, + -422.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -225.5826925222088, + -423.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -222.98461631085547, + -425.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -220.38654009950216, + -426.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -217.78846388814884, + -428.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -215.19038767679552, + -429.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -212.5923114654422, + -431.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -209.9942352540889, + -432.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -207.39615904273558, + -434.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -204.79808283138226, + -435.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -202.20000662002894, + -437.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -199.60193040867563, + -438.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -197.0038541973223, + -440.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -194.405777985969, + -441.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -191.80770177461568, + -443.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -189.20962556326236, + -444.5930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -186.61154935190905, + -446.0930920861633, + 1.925741330017555 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -186.61154935190905, + -446.0930920861633, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -185.11154935190905, + -448.69116829751664, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -183.61154935190905, + -451.28924450886996, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -182.11154935190905, + -453.8873207202233, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -180.61154935190905, + -456.4853969315766, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -179.11154935190905, + -459.0834731429299, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -177.61154935190905, + -461.6815493542832, + 1.925741330017555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -176.11154935190905, + -464.27962556563654, + 1.925741330017555 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-18_1597322404/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-18_1597322404/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd26e7c5a697670250510e62bc17372ca40c8da1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-31-18_1597322404/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -783.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -777.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -774.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -771.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -768.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -765.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -765.4461036135845, + 198.8783301150452, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -763.9461036135845, + 201.47640632639852, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.4461036135845, + 204.07448253775183, + 2.692354082988282 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -762.4461036135845, + 204.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -759.8480274022311, + 205.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.2499511908777, + 207.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -754.6518749795243, + 208.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.053798768171, + 210.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -749.4557225568176, + 211.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -746.8576463454642, + 213.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -744.2595701341108, + 214.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -741.6614939227575, + 216.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.0634177114041, + 217.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.4653415000507, + 219.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.8672652886974, + 220.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -731.269189077344, + 222.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -728.6711128659906, + 223.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -726.0730366546372, + 225.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -723.4749604432839, + 226.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -720.8768842319305, + 228.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.2788080205771, + 229.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -715.6807318092237, + 231.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -713.0826555978704, + 232.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -710.484579386517, + 234.07448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -707.8865031751636, + 235.57448253775183, + 2.692354082988282 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -705.2884269638103, + 237.07448253775183, + 2.692354082988282 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-37-24_601385644/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-37-24_601385644/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39876fa8dc200a93616a7790b4bec6ba6ce425f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-37-24_601385644/pose.jsonl @@ -0,0 +1,183 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -945.2702732886816, + 412.0814322387984, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -946.7702732886816, + 409.4833560274451, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -948.2702732886816, + 406.8852798160918, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -949.7702732886816, + 404.28720360473847, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -951.2702732886816, + 401.68912739338515, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -952.7702732886816, + 399.09105118203183, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -954.2702732886816, + 396.4929749706785, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -955.7702732886816, + 393.8948987593252, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -957.2702732886816, + 391.2968225479719, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -958.7702732886816, + 388.69874633661857, + 0.34944876385433066 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.7702732886816, + 388.69874633661857, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.3683495000348, + 387.19874633661857, + 0.34944876385433066 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -963.9664257113882, + 385.69874633661857, + 0.34944876385433066 + ], + "type": "stop", + "value": 0, + "yaw": -2.617993877991485 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-21_1469348094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-21_1469348094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f37777865f7abe935774e2e4de78a02a4c619a9e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-21_1469348094/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -644.3690753800312, + 275.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.9671515913844, + 274.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.5652278027378, + 272.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -652.1633040140912, + 271.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -654.7613802254446, + 269.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -657.3594564367979, + 268.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -659.9575326481513, + 266.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -662.5556088595047, + 265.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -665.153685070858, + 263.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.7517612822114, + 262.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.3498374935648, + 260.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -672.9479137049182, + 259.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -675.5459899162715, + 257.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.1440661276249, + 256.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.7421423389783, + 254.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -683.3402185503317, + 253.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -685.938294761685, + 251.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -688.5363709730384, + 250.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -691.1344471843918, + 248.6596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -693.7325233957451, + 247.1596656204514, + 3.898116762953178 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -693.7325233957451, + 247.1596656204514, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -695.2325233957451, + 244.56158940909808, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -696.7325233957451, + 241.96351319774476, + 3.898116762953178 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -698.2325233957451, + 239.36543698639144, + 3.898116762953178 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-49_1036140795/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-49_1036140795/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..66cb811d3d1254e930ab3eba947f915e7134a0e6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-4-49_1036140795/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -979.3930956249468, + 273.09252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -981.9911718363, + 274.59252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -984.5892480476534, + 276.09252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -987.1873242590068, + 277.59252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -989.7854004703602, + 279.09252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -992.3834766817135, + 280.59252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -994.9815528930669, + 282.09252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -997.5796291044203, + 283.59252299526224, + -1.9905471362880882 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -1000.1777053157737, + 285.09252299526224, + -1.9905471362880882 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-40-5_6939507/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-40-5_6939507/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..721dd3979d4c75048c106ab58378c65c64b3109e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-40-5_6939507/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -247.49362902387247, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -250.49362902387247, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -253.49362902387247, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -256.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -259.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -262.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -265.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -268.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -271.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -274.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -277.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -280.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -283.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -286.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -289.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -292.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -292.4936290238725, + -116.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -295.0917052352258, + -117.59358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -297.6897814465791, + -119.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -300.2878576579324, + -120.59358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -302.88593386928574, + -122.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.48401008063905, + -123.59358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -308.08208629199237, + -125.09358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.6801625033457, + -126.59358994760616, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -313.278238714699, + -128.09358994760615, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914984 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -315.8763149260523, + -129.59358994760615, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -318.47439113740563, + -131.09358994760615, + -4.085868935740798 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -321.07246734875895, + -132.59358994760615, + -4.085868935740798 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-22_1590079444/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-22_1590079444/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a120b1e6def60dc0cb0bfa399cb86e32149540fd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-22_1590079444/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -723.3542681136165, + 165.4128131132496, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.8542681136165, + 162.81473690189628, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -720.3542681136165, + 160.21666069054297, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -718.8542681136165, + 157.61858447918965, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -717.3542681136165, + 155.02050826783633, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -715.8542681136165, + 152.42243205648302, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.3542681136165, + 149.8243558451297, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.8542681136165, + 147.2262796337764, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -711.3542681136165, + 144.62820342242307, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -709.8542681136165, + 142.03012721106975, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.3542681136165, + 139.43205099971644, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.8542681136165, + 136.83397478836312, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -705.3542681136165, + 134.2358985770098, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -703.8542681136165, + 131.6378223656565, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.3542681136165, + 129.03974615430317, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -700.8542681136165, + 126.44166994294986, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -699.3542681136165, + 123.84359373159654, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -697.8542681136165, + 121.24551752024323, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -696.3542681136165, + 118.64744130888991, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -694.8542681136165, + 116.0493650975366, + -1.8017500632583876 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.8542681136165, + 116.0493650975366, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.2561919022633, + 114.5493650975366, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -689.6581156909099, + 113.0493650975366, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -687.0600394795565, + 111.5493650975366, + -1.8017500632583876 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -684.4619632682031, + 110.0493650975366, + -1.8017500632583876 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-3_705178736/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-3_705178736/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d3f1e2afbf8f697e441fcdb681cb329a5b6fb24 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-46-3_705178736/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 128.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 131.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 134.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 137.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 140.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 143.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 146.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 149.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 152.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 155.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 158.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 161.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 164.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 167.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 167.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 167.7347065568519, + 734.5267011527791, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 169.2347065568519, + 731.9286249414258, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 170.7347065568519, + 729.3305487300725, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 172.2347065568519, + 726.7324725187191, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 173.7347065568519, + 724.1343963073657, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 175.2347065568519, + 721.5363200960123, + -4.8340237378945625 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 175.2347065568519, + 721.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 177.83278276820522, + 720.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 180.43085897955854, + 718.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 183.02893519091185, + 717.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 185.62701140226517, + 715.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 188.22508761361848, + 714.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 190.8231638249718, + 712.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 193.42124003632512, + 711.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 196.01931624767843, + 709.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 198.61739245903175, + 708.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.21546867038506, + 706.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 203.81354488173838, + 705.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 206.4116210930917, + 703.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 209.009697304445, + 702.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 211.60777351579833, + 700.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 214.20584972715164, + 699.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 216.80392593850496, + 697.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 219.40200214985828, + 696.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 222.0000783612116, + 694.5363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 224.5981545725649, + 693.0363200960123, + -4.8340237378945625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 227.19623078391822, + 691.5363200960123, + -4.8340237378945625 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-49-36_776532036/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-49-36_776532036/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0be7e6f850bdab1115ef3737f57f2dc6160cf6a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-49-36_776532036/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -748.9539170801851, + -222.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -746.3558408688318, + -221.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -743.7577646574784, + -219.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -741.1596884461251, + -218.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -738.5616122347717, + -216.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -735.9635360234183, + -215.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -733.365459812065, + -213.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -730.7673836007116, + -212.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -728.1693073893582, + -210.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -725.5712311780048, + -209.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -722.9731549666515, + -207.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.3750787552981, + -206.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -717.7770025439447, + -204.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -715.1789263325913, + -203.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -712.580850121238, + -201.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -709.9827739098846, + -200.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -707.3846976985312, + -198.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -704.7866214871779, + -197.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -702.1885452758245, + -195.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.5904690644711, + -194.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -696.9923928531177, + -192.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -694.3943166417644, + -191.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -691.796240430411, + -189.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -689.1981642190576, + -188.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.6000880077042, + -186.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.0020117963509, + -185.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -681.4039355849975, + -183.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -678.8058593736441, + -182.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -676.2077831622908, + -180.51222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -673.6097069509374, + -179.01222765589227, + 2.814718869114584 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -673.6097069509374, + -179.01222765589227, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -672.1097069509374, + -176.41415144453896, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.6097069509374, + -173.81607523318564, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -669.1097069509374, + -171.21799902183233, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -667.6097069509374, + -168.619922810479, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -666.1097069509374, + -166.0218465991257, + 2.814718869114584 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -664.6097069509374, + -163.42377038777238, + 2.814718869114584 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-5-50_317097467/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-5-50_317097467/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..54e9744be4bbd4ab8302f0f05962a1c6526f8754 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-5-50_317097467/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -149.6123448794041, + -372.80528884963167, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -151.1123448794041, + -375.403365060985, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -152.6123448794041, + -378.0014412723383, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -154.1123448794041, + -380.5995174836916, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -155.6123448794041, + -383.19759369504493, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -157.1123448794041, + -385.79566990639825, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -158.6123448794041, + -388.39374611775156, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -160.1123448794041, + -390.9918223291049, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -161.6123448794041, + -393.5898985404582, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -163.1123448794041, + -396.1879747518115, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -164.6123448794041, + -398.7860509631648, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -166.1123448794041, + -401.38412717451814, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -167.6123448794041, + -403.98220338587146, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -169.1123448794041, + -406.5802795972248, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -170.6123448794041, + -409.1783558085781, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.1123448794041, + -411.7764320199314, + 3.68639432816453 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -172.1123448794041, + -411.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -172.1123448794041, + -414.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -172.1123448794041, + -417.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -172.1123448794041, + -420.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -172.1123448794041, + -423.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -172.1123448794041, + -426.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -172.1123448794041, + -429.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -172.1123448794041, + -432.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -172.1123448794041, + -435.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -172.1123448794041, + -438.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -172.1123448794041, + -441.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -172.1123448794041, + -444.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -172.1123448794041, + -447.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -172.1123448794041, + -450.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -172.1123448794041, + -453.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -172.1123448794041, + -456.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -172.1123448794041, + -459.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -172.1123448794041, + -462.7764320199314, + 3.68639432816453 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -172.1123448794041, + -465.7764320199314, + 3.68639432816453 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-51-45_407487131/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-51-45_407487131/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e5ac74b6700063f5098663a4153440cd98a90c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-51-45_407487131/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -77.55762977779277, + -105.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -80.15570598914609, + -103.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -82.7537822004994, + -102.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -85.35185841185272, + -100.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -87.94993462320603, + -99.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -90.54801083455935, + -97.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -93.14608704591267, + -96.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -95.74416325726598, + -94.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -98.3422394686193, + -93.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -100.94031567997261, + -91.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -103.53839189132593, + -90.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -106.13646810267925, + -88.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -108.73454431403256, + -87.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -111.33262052538588, + -85.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -113.9306967367392, + -84.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -116.52877294809251, + -82.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -119.12684915944583, + -81.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -121.72492537079914, + -79.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -124.32300158215246, + -78.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -126.92107779350577, + -76.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -129.5191540048591, + -75.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -132.11723021621242, + -73.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.71530642756574, + -72.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -137.31338263891905, + -70.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -139.91145885027237, + -69.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -142.50953506162568, + -67.87564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -145.107611272979, + -66.37564152290852, + 3.940653079783992 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -145.107611272979, + -66.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -148.107611272979, + -66.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -151.107611272979, + -66.37564152290852, + 3.940653079783992 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -154.107611272979, + -66.37564152290852, + 3.940653079783992 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-54-11_1642548899/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-54-11_1642548899/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..367c66da044839da86ae8ca64f7f2512e42fa3a1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-54-11_1642548899/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -584.5891241456546, + -13.876489131526753, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -586.0891241456546, + -11.278412920173437, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -587.5891241456546, + -8.680336708820121, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -589.0891241456546, + -6.082260497466805, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -590.5891241456546, + -3.4841842861134893, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -592.0891241456546, + -0.8861080747601733, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -593.5891241456546, + 1.7119681365931427, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -595.0891241456546, + 4.310044347946459, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -596.5891241456546, + 6.908120559299775, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -598.0891241456546, + 9.50619677065309, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -599.5891241456546, + 12.104272982006407, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -601.0891241456546, + 14.702349193359723, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.5891241456546, + 17.30042540471304, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -604.0891241456546, + 19.898501616066355, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -605.5891241456546, + 22.49657782741967, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -607.0891241456546, + 25.094654038772987, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -608.5891241456546, + 27.692730250126303, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -610.0891241456546, + 30.29080646147962, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -611.5891241456546, + 32.888882672832935, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -613.0891241456546, + 35.48695888418625, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -614.5891241456546, + 38.08503509553957, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -616.0891241456546, + 40.68311130689288, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -617.5891241456546, + 43.2811875182462, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -619.0891241456546, + 45.879263729599515, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -620.5891241456546, + 48.47733994095283, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -622.0891241456546, + 51.07541615230615, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -623.5891241456546, + 53.67349236365946, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -625.0891241456546, + 56.27156857501278, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -626.5891241456546, + 58.869644786366095, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -628.0891241456546, + 61.46772099771941, + -1.9774632980103513 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -628.0891241456546, + 61.46772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -630.6872003570079, + 62.96772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -633.2852765683613, + 64.46772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -635.8833527797146, + 65.96772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -638.481428991068, + 67.46772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -641.0795052024214, + 68.96772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -643.6775814137748, + 70.46772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -646.2756576251281, + 71.96772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -648.8737338364815, + 73.46772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -651.4718100478349, + 74.96772099771941, + -1.9774632980103513 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -651.4718100478349, + 74.96772099771941, + -1.9774632980103513 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -652.9718100478349, + 77.56579720907273, + -1.9774632980103513 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393205 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-27_437116466/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-27_437116466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fdeef47270eb5335fe9284e9201108782288b2fe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-56-27_437116466/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 235.0187468982603, + 765.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 235.0187468982603, + 762.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 235.0187468982603, + 759.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 235.0187468982603, + 756.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 235.0187468982603, + 753.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 235.0187468982603, + 750.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 235.0187468982603, + 747.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 235.0187468982603, + 744.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.0187468982603, + 741.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 235.0187468982603, + 738.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 235.0187468982603, + 735.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 235.0187468982603, + 732.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 235.0187468982603, + 729.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 235.0187468982603, + 726.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 235.0187468982603, + 723.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 235.0187468982603, + 720.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 235.0187468982603, + 717.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 235.0187468982603, + 714.8010175977537, + 4.736806536958451 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 235.0187468982603, + 714.8010175977537, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 233.5187468982603, + 712.2029413864004, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 232.0187468982603, + 709.604865175047, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 230.5187468982603, + 707.0067889636937, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 229.0187468982603, + 704.4087127523403, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 227.5187468982603, + 701.8106365409869, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 226.0187468982603, + 699.2125603296336, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 224.5187468982603, + 696.6144841182802, + 4.736806536958451 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.0187468982603, + 694.0164079069268, + 4.736806536958451 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-57-21_1943327684/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-57-21_1943327684/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5db8052ae811dae802745aea044a6429eb7c980d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-57-21_1943327684/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -236.5259285122308, + -323.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -239.1240047235841, + -324.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -241.72208093493742, + -326.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.32015714629074, + -327.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -246.91823335764406, + -329.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -249.51630956899737, + -330.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -252.1143857803507, + -332.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -254.712461991704, + -333.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -257.3105382030573, + -335.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -259.90861441441064, + -336.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -262.50669062576395, + -338.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -265.10476683711727, + -339.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -267.7028430484706, + -341.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -270.3009192598239, + -342.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -272.8989954711772, + -344.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -275.49707168253053, + -345.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -278.09514789388385, + -347.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -280.69322410523716, + -348.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -283.2913003165905, + -350.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -285.8893765279438, + -351.76531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -288.4874527392971, + -353.26531008354624, + 4.6117741277838995 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -288.4874527392971, + -353.26531008354624, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -289.9874527392971, + -355.86338629489956, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -291.4874527392971, + -358.4614625062529, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -292.9874527392971, + -361.0595387176062, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -294.4874527392971, + -363.6576149289595, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -295.9874527392971, + -366.2556911403128, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -297.4874527392971, + -368.85376735166614, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -298.9874527392971, + -371.45184356301945, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -300.4874527392971, + -374.04991977437277, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -301.9874527392971, + -376.6479959857261, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -303.4874527392971, + -379.2460721970794, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -304.9874527392971, + -381.8441484084327, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -306.4874527392971, + -384.44222461978603, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -307.9874527392971, + -387.04030083113935, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -309.4874527392971, + -389.63837704249266, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -310.9874527392971, + -392.236453253846, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -312.4874527392971, + -394.8345294651993, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -313.9874527392971, + -397.4326056765526, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -315.4874527392971, + -400.0306818879059, + 4.6117741277838995 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -316.9874527392971, + -402.62875809925924, + 4.6117741277838995 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-20_485560280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-20_485560280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb7ca8b891a650e0f54e69e7207396dc4e4b9ff0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-20_485560280/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -385.96152488176966, + -201.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -388.559601093123, + -199.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -391.1576773044763, + -198.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -393.7557535158296, + -196.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -396.3538297271829, + -195.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -398.95190593853624, + -193.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -401.54998214988956, + -192.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -404.1480583612429, + -190.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -406.7461345725962, + -189.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -409.3442107839495, + -187.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -411.9422869953028, + -186.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -414.54036320665614, + -184.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -417.13843941800945, + -183.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -419.73651562936277, + -181.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -422.3345918407161, + -180.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -424.9326680520694, + -178.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -427.5307442634227, + -177.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -430.12882047477603, + -175.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -432.72689668612935, + -174.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -435.32497289748267, + -172.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -437.923049108836, + -171.32317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -440.5211253201893, + -169.82317551511673, + 0.5730663920939456 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -440.5211253201893, + -169.82317551511673, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -442.0211253201893, + -167.22509930376341, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -443.5211253201893, + -164.6270230924101, + 0.5730663920939456 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -445.0211253201893, + -162.02894688105678, + 0.5730663920939456 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-50_593209441/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-50_593209441/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09738825826d03b2e1b1c21bac618816ff3ef88f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_17-8-50_593209441/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -678.0819511967974, + 51.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -680.6800274081506, + 50.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -683.278103619504, + 48.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -685.8761798308574, + 47.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.4742560422108, + 45.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -691.0723322535641, + 44.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -693.6704084649175, + 42.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.2684846762709, + 41.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -698.8665608876242, + 39.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -701.4646370989776, + 38.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -704.062713310331, + 36.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -706.6607895216844, + 35.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -709.2588657330377, + 33.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.8569419443911, + 32.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.4550181557445, + 30.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -717.0530943670979, + 29.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -719.6511705784512, + 27.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -722.2492467898046, + 26.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -724.847323001158, + 24.8210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -727.4453992125113, + 23.3210906096064, + -2.483888587514195 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -730.0434754238647, + 21.8210906096064, + -2.483888587514195 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-1-26_1562402336/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-1-26_1562402336/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..73c229b7186c8e597d80ad5c22b55d967856c249 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-1-26_1562402336/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -374.29586464987074, + 539.7122098156696, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -375.79586464987074, + 537.1141336043163, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -377.29586464987074, + 534.5160573929629, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -378.79586464987074, + 531.9179811816095, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -380.29586464987074, + 529.3199049702562, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -381.79586464987074, + 526.7218287589028, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -383.29586464987074, + 524.1237525475494, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -384.79586464987074, + 521.525676336196, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -386.29586464987074, + 518.9276001248427, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -387.79586464987074, + 516.3295239134893, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -389.29586464987074, + 513.7314477021359, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -390.79586464987074, + 511.1333714907826, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -392.29586464987074, + 508.5352952794293, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -393.79586464987074, + 505.937219068076, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -395.29586464987074, + 503.3391428567227, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -396.79586464987074, + 500.74106664536936, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -398.29586464987074, + 498.14299043401604, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -399.79586464987074, + 495.5449142226627, + 1.9252073749226009 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -399.79586464987074, + 495.5449142226627, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -399.79586464987074, + 492.5449142226627, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -399.79586464987074, + 489.5449142226627, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -399.79586464987074, + 486.5449142226627, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -399.79586464987074, + 483.5449142226627, + 1.9252073749226009 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -399.79586464987074, + 480.5449142226627, + 1.9252073749226009 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-13-2_1197352298/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-13-2_1197352298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..98548aa614ff5494e612749f15b6ddf013c79ac1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-13-2_1197352298/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -578.0857780284587, + 315.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.683854239812, + 314.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -583.2819304511654, + 312.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -585.8800066625188, + 311.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -588.4780828738722, + 309.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -591.0761590852255, + 308.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -593.6742352965789, + 306.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -596.2723115079323, + 305.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -598.8703877192856, + 303.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.468463930639, + 302.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -604.0665401419924, + 300.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -606.6646163533458, + 299.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -609.2626925646991, + 297.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -611.8607687760525, + 296.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -614.4588449874059, + 294.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -617.0569211987593, + 293.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -619.6549974101126, + 291.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.253073621466, + 290.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -624.8511498328194, + 288.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -627.4492260441727, + 287.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -630.0473022555261, + 285.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -632.6453784668795, + 284.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -635.2434546782329, + 282.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.8415308895862, + 281.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.4396071009396, + 279.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -643.037683312293, + 278.22608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -645.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -645.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -648.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -651.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -654.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -657.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -660.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -663.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -666.6357595236464, + 276.72608214574797, + -1.2970898314676003 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-21-27_1737518944/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-21-27_1737518944/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6643ca4aa38862beb84b8fe662bd31c73142a7a6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-21-27_1737518944/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -289.1026287455801, + -366.7519873314742, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -286.5045525342268, + -368.2519873314742, + -3.292028739494379 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -286.5045525342268, + -368.2519873314742, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.0045525342268, + -370.8500635428275, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -283.5045525342268, + -373.44813975418083, + -3.292028739494379 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -283.5045525342268, + -373.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -280.90647632287346, + -374.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -278.30840011152014, + -376.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -275.7103239001668, + -377.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -273.1122476888135, + -379.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -270.5141714774602, + -380.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -267.9160952661069, + -382.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -265.31801905475356, + -383.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -262.71994284340025, + -385.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -260.12186663204693, + -386.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -257.5237904206936, + -388.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -254.9257142093403, + -389.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -252.32763799798698, + -391.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -249.72956178663367, + -392.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -247.13148557528035, + -394.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -244.53340936392703, + -395.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -241.93533315257372, + -397.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -239.3372569412204, + -398.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -236.7391807298671, + -400.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -234.14110451851377, + -401.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -231.54302830716045, + -403.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -228.94495209580714, + -404.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -226.34687588445382, + -406.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -223.7487996731005, + -407.94813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -221.1507234617472, + -409.44813975418083, + -3.292028739494379 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -218.55264725039387, + -410.94813975418083, + -3.292028739494379 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-33-4_425245975/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-33-4_425245975/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..977d918d832cba0ef37324499bdc7685f875c9cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-33-4_425245975/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -760.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -757.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -754.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -751.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -748.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -742.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -739.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -736.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -733.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -730.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -727.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -724.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -721.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -718.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -715.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -712.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -706.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -703.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -700.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -697.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -694.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -691.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -688.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -685.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -682.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -679.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -676.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -673.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.5826881225089, + 70.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -667.9846119111555, + 72.30286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -665.3865356998022, + 73.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -662.7884594884488, + 75.30286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -660.1903832770954, + 76.80286753270865, + -3.566866725901307 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -657.592307065742, + 78.30286753270865, + -3.566866725901307 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-25_1144278050/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-25_1144278050/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14616c5a4e961e4f341dcda02e7d469cdaa24f12 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-25_1144278050/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -633.2916573422937, + 189.60749552096303, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -634.7916573422937, + 187.0094193096097, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -636.2916573422937, + 184.4113430982564, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -637.7916573422937, + 181.81326688690308, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -639.2916573422937, + 179.21519067554976, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -640.7916573422937, + 176.61711446419645, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -642.2916573422937, + 174.01903825284313, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -643.7916573422937, + 171.42096204148982, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -645.2916573422937, + 168.8228858301365, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -646.7916573422937, + 166.22480961878318, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.2916573422937, + 163.62673340742987, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -649.7916573422937, + 161.02865719607655, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -651.2916573422937, + 158.43058098472324, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -652.7916573422937, + 155.83250477336992, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -654.2916573422937, + 153.2344285620166, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -655.7916573422937, + 150.6363523506633, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.2916573422937, + 148.03827613930997, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.7916573422937, + 145.44019992795666, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -660.2916573422937, + 142.84212371660334, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -661.7916573422937, + 140.24404750525002, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -663.2916573422937, + 137.6459712938967, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -664.7916573422937, + 135.0478950825434, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.2916573422937, + 132.44981887119008, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.7916573422937, + 129.85174265983676, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -669.2916573422937, + 127.25366644848344, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.7916573422937, + 124.65559023713013, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -672.2916573422937, + 122.05751402577681, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.7916573422937, + 119.4594378144235, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -675.2916573422937, + 116.86136160307018, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -676.7916573422937, + 114.26328539171686, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -678.2916573422937, + 111.66520918036355, + -0.7176735105499725 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -679.7916573422937, + 109.06713296901023, + -0.7176735105499725 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-55_1192707556/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-55_1192707556/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c35260cb258ed169634e55a9716c8ae5853d02f2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-36-55_1192707556/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -273.9575075072195, + -473.95367284044187, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -275.4575075072195, + -471.35559662908855, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -276.9575075072195, + -468.75752041773524, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -278.4575075072195, + -466.1594442063819, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -279.9575075072195, + -463.5613679950286, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -281.4575075072195, + -460.9632917836753, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -282.9575075072195, + -458.365215572322, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -284.4575075072195, + -455.76713936096866, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -285.9575075072195, + -453.16906314961534, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -287.4575075072195, + -450.570986938262, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -288.9575075072195, + -447.9729107269087, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -290.4575075072195, + -445.3748345155554, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -291.9575075072195, + -442.7767583042021, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -293.4575075072195, + -440.17868209284876, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -294.9575075072195, + -437.58060588149544, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -296.4575075072195, + -434.9825296701421, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -297.9575075072195, + -432.3844534587888, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -299.4575075072195, + -429.7863772474355, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -300.9575075072195, + -427.1883010360822, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -302.4575075072195, + -424.59022482472886, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -303.9575075072195, + -421.99214861337555, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.4575075072195, + -419.39407240202223, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -306.9575075072195, + -416.7959961906689, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -308.4575075072195, + -414.1979199793156, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -309.9575075072195, + -411.5998437679623, + 1.7585345569469109 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -309.9575075072195, + -411.5998437679623, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -312.5555837185728, + -410.0998437679623, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -315.1536599299261, + -408.5998437679623, + 1.7585345569469109 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -317.7517361412794, + -407.0998437679623, + 1.7585345569469109 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-39-1_1186090428/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-39-1_1186090428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4b91285ebc72863ed0430fb438031ceb36b4d62 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-39-1_1186090428/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -814.0853216442656, + 93.70108034556303, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.5853216442656, + 96.29915655691634, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -811.0853216442656, + 98.89723276826966, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -809.5853216442656, + 101.49530897962298, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -808.0853216442656, + 104.09338519097629, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -806.5853216442656, + 106.69146140232961, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -805.0853216442656, + 109.28953761368292, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.5853216442656, + 111.88761382503624, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -802.0853216442656, + 114.48569003638956, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -800.5853216442656, + 117.08376624774287, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -799.0853216442656, + 119.68184245909619, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -797.5853216442656, + 122.2799186704495, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -796.0853216442656, + 124.87799488180282, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -794.5853216442656, + 127.47607109315614, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -793.0853216442656, + 130.07414730450944, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -791.5853216442656, + 132.67222351586275, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -790.0853216442656, + 135.27029972721607, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -788.5853216442656, + 137.8683759385694, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -787.0853216442656, + 140.4664521499227, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -785.5853216442656, + 143.06452836127602, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -784.0853216442656, + 145.66260457262933, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -782.5853216442656, + 148.26068078398265, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -781.0853216442656, + 150.85875699533597, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -779.5853216442656, + 153.45683320668928, + 2.700085386700608 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -779.5853216442656, + 153.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -779.5853216442656, + 156.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -779.5853216442656, + 159.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -779.5853216442656, + 162.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -779.5853216442656, + 165.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -779.5853216442656, + 168.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -779.5853216442656, + 171.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -779.5853216442656, + 174.45683320668928, + 2.700085386700608 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -779.5853216442656, + 177.45683320668928, + 2.700085386700608 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-36_860516127/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-36_860516127/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16989f5441d7832528da4ded1b412e23d36a0ffe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-36_860516127/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -449.25379491751454, + -236.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -449.25379491751454, + -233.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -449.25379491751454, + -230.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -449.25379491751454, + -227.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -449.25379491751454, + -224.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -449.25379491751454, + -221.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -449.25379491751454, + -218.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -449.25379491751454, + -215.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -449.25379491751454, + -212.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -449.25379491751454, + -209.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -449.25379491751454, + -206.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -449.25379491751454, + -203.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -449.25379491751454, + -200.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -449.25379491751454, + -197.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -449.25379491751454, + -194.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -449.25379491751454, + -191.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -449.25379491751454, + -188.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -449.25379491751454, + -185.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -449.25379491751454, + -182.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -449.25379491751454, + -179.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -449.25379491751454, + -176.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -449.25379491751454, + -173.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -449.25379491751454, + -170.70658548118413, + -2.4749065774695356 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -449.25379491751454, + -170.70658548118413, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -447.75379491751454, + -168.10850926983082, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -446.25379491751454, + -165.5104330584775, + -2.4749065774695356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -444.75379491751454, + -162.9123568471242, + -2.4749065774695356 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-5_1380171692/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-5_1380171692/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a92f0a5ba1a63e50a0c04e66b6c4b9b7e28a4124 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-42-5_1380171692/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -652.4837651142769, + -5.964653550932539, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -652.4837651142769, + -2.964653550932539, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -652.4837651142769, + 0.035346449067461094, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -652.4837651142769, + 3.035346449067461, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -652.4837651142769, + 6.035346449067461, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -652.4837651142769, + 9.035346449067461, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -652.4837651142769, + 12.035346449067461, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -652.4837651142769, + 15.035346449067461, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -652.4837651142769, + 18.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -652.4837651142769, + 21.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -652.4837651142769, + 24.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -652.4837651142769, + 27.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -652.4837651142769, + 30.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -652.4837651142769, + 33.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -652.4837651142769, + 36.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -652.4837651142769, + 39.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -652.4837651142769, + 42.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.4837651142769, + 45.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -652.4837651142769, + 48.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -652.4837651142769, + 51.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -652.4837651142769, + 54.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -652.4837651142769, + 57.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -652.4837651142769, + 60.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -652.4837651142769, + 63.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -652.4837651142769, + 66.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -652.4837651142769, + 69.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -652.4837651142769, + 72.03534644906746, + -3.2480007422425805 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -652.4837651142769, + 72.03534644906746, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -653.9837651142769, + 74.63342266042078, + -3.2480007422425805 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -655.4837651142769, + 77.2314988717741, + -3.2480007422425805 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-44-30_328298285/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-44-30_328298285/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..33fbfc6966e886a35e71792c5d02c32fa42b3232 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-44-30_328298285/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -254.0554389087916, + -346.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -256.6535151201449, + -347.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -259.2515913314982, + -349.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -261.84966754285153, + -350.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -264.44774375420485, + -352.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -267.04581996555817, + -353.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -269.6438961769115, + -355.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -272.2419723882648, + -356.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -274.8400485996181, + -358.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -277.43812481097143, + -359.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -280.03620102232475, + -361.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -282.63427723367806, + -362.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -285.2323534450314, + -364.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -287.8304296563847, + -365.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -290.428505867738, + -367.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -293.0265820790913, + -368.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -295.62465829044464, + -370.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -298.22273450179796, + -371.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -300.8208107131513, + -373.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -303.4188869245046, + -374.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -306.0169631358579, + -376.1512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -308.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -308.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -311.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -314.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -317.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -320.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -323.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -326.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -329.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -332.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -335.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -338.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -341.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -344.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -347.6150393472112, + -377.6512906112158, + -0.5121870763685994 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-45-20_1472576335/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-45-20_1472576335/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..84adf0715d210617ad22da173305516c7e1f8d31 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-45-20_1472576335/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -330.1355194322329, + 521.6765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -332.7335956435862, + 520.1765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -335.33167185493954, + 518.6765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.92974806629286, + 517.1765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -340.5278242776462, + 515.6765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -343.1259004889995, + 514.1765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -345.7239767003528, + 512.6765189761655, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -348.3220529117061, + 511.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -350.92012912305944, + 509.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -353.51820533441276, + 508.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -356.11628154576607, + 506.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -358.7143577571194, + 505.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -361.3124339684727, + 503.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -363.910510179826, + 502.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -366.50858639117934, + 500.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -369.10666260253265, + 499.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -371.70473881388597, + 497.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -374.3028150252393, + 496.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -376.9008912365926, + 494.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -379.4989674479459, + 493.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -382.09704365929923, + 491.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -384.69511987065255, + 490.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -387.29319608200586, + 488.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -389.8912722933592, + 487.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -392.4893485047125, + 485.67651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -395.0874247160658, + 484.17651897616554, + 4.742330933002295 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -397.6855009274191, + 482.67651897616554, + 4.742330933002295 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-47-16_655495367/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-47-16_655495367/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a240426accffe36d71b49209769764b8150a6a2c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-47-16_655495367/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -717.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -711.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -702.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -696.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -693.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -690.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -687.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -684.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -681.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -678.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -672.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -666.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -666.6942345484963, + 76.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -664.0961583371429, + 77.9398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -661.4980821257896, + 79.4398371701799, + 1.6548562832457572 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -658.9000059144362, + 80.9398371701799, + 1.6548562832457572 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-49-47_672655340/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-49-47_672655340/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b905f012fa1d794ff937babd514901b86e4dc1fa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-49-47_672655340/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 494.542295838959, + 588.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 491.94421962760566, + 586.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 489.34614341625235, + 585.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 486.74806720489903, + 583.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 484.1499909935457, + 582.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 481.5519147821924, + 580.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 478.9538385708391, + 579.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 476.35576235948577, + 577.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 473.75768614813245, + 576.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 471.15960993677913, + 574.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 468.5615337254258, + 573.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 465.9634575140725, + 571.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 463.3653813027192, + 570.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 460.76730509136587, + 568.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.16922888001255, + 567.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 455.57115266865924, + 565.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 452.9730764573059, + 564.1533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 450.3750002459526, + 562.6533309797834, + -0.838943874950707 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 450.3750002459526, + 562.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 447.3750002459526, + 562.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 444.3750002459526, + 562.6533309797834, + -0.838943874950707 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 441.3750002459526, + 562.6533309797834, + -0.838943874950707 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-52-59_1175526309/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-52-59_1175526309/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc4056df3348f479261c50b5c6ad9c55b221c335 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-52-59_1175526309/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -712.4602368331897, + 39.80763096165684, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -710.9602368331897, + 42.40570717301016, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.4602368331897, + 45.00378338436347, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.9602368331897, + 47.60185959571679, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -706.4602368331897, + 50.199935807070105, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -704.9602368331897, + 52.79801201842342, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -703.4602368331897, + 55.39608822977674, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -701.9602368331897, + 57.99416444113005, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.4602368331897, + 60.59224065248337, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -698.9602368331897, + 63.190316863836685, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -697.4602368331897, + 65.78839307519, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -695.9602368331897, + 68.38646928654332, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.4602368331897, + 70.98454549789663, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.9602368331897, + 73.58262170924995, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -691.4602368331897, + 76.18069792060327, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -689.9602368331897, + 78.77877413195658, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.4602368331897, + 81.3768503433099, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -686.9602368331897, + 83.97492655466321, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.4602368331897, + 86.57300276601653, + -3.552180142034125 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -685.4602368331897, + 86.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -685.4602368331897, + 89.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -685.4602368331897, + 92.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.4602368331897, + 95.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -685.4602368331897, + 98.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.4602368331897, + 101.57300276601653, + -3.552180142034125 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -685.4602368331897, + 104.57300276601653, + -3.552180142034125 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-54-20_1184214677/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-54-20_1184214677/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27edbed8eb6c67d3de9f4730d207a184072c15c7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-54-20_1184214677/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -983.2713994362522, + 253.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.2713994362522, + 256.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -983.2713994362522, + 259.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -983.2713994362522, + 262.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -983.2713994362522, + 265.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -983.2713994362522, + 268.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -983.2713994362522, + 271.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -983.2713994362522, + 274.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -983.2713994362522, + 277.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -983.2713994362522, + 280.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -983.2713994362522, + 283.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -983.2713994362522, + 286.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -983.2713994362522, + 289.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -983.2713994362522, + 292.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.2713994362522, + 295.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -983.2713994362522, + 298.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -983.2713994362522, + 301.19458993695696, + -4.509512983247036 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -983.2713994362522, + 301.19458993695696, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -984.7713994362522, + 303.7926661483103, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -986.2713994362522, + 306.3907423596636, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -987.7713994362522, + 308.9888185710169, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -989.2713994362522, + 311.5868947823702, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -990.7713994362522, + 314.18497099372354, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -992.2713994362522, + 316.78304720507685, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -993.7713994362522, + 319.38112341643017, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.2713994362522, + 321.9791996277835, + -4.509512983247036 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -996.7713994362522, + 324.5772758391368, + -4.509512983247036 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-16_1307565984/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-16_1307565984/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fa422f813b045310fa3ac92dd65a880e13201d0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-16_1307565984/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.997246914358868, + 121.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -9.399170703005552, + 123.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -6.801094491652236, + 124.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.20301828029892, + 126.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.6049420689456042, + 127.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 0.9931341424077118, + 129.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 3.591210353761028, + 130.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 6.189286565114344, + 132.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 8.78736277646766, + 133.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 11.385438987820976, + 135.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 13.983515199174292, + 136.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 16.581591410527608, + 138.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 19.179667621880924, + 139.5053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 21.77774383323424, + 141.0053576131927, + -3.3272807981265853 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 21.77774383323424, + 141.0053576131927, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 23.27774383323424, + 143.60343382454602, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 24.77774383323424, + 146.20151003589933, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 26.27774383323424, + 148.79958624725265, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 27.77774383323424, + 151.39766245860596, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 29.27774383323424, + 153.99573866995928, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 30.77774383323424, + 156.5938148813126, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 32.27774383323424, + 159.1918910926659, + -3.3272807981265853 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 33.77774383323424, + 161.78996730401923, + -3.3272807981265853 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-1_1414829150/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-1_1414829150/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6721be260813341c9ea68b809dd5f0d530e1d3d3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-7-1_1414829150/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -416.17992114007785, + -251.65758394042197, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -414.67992114007785, + -249.05950772906866, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -413.17992114007785, + -246.46143151771534, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -411.67992114007785, + -243.86335530636202, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -410.17992114007785, + -241.2652790950087, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -408.67992114007785, + -238.6672028836554, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -407.17992114007785, + -236.06912667230208, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -405.67992114007785, + -233.47105046094876, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -404.17992114007785, + -230.87297424959544, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -402.67992114007785, + -228.27489803824213, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -401.17992114007785, + -225.6768218268888, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -399.67992114007785, + -223.0787456155355, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -398.17992114007785, + -220.48066940418218, + 0.47677719554048537 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -398.17992114007785, + -220.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -398.17992114007785, + -217.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -398.17992114007785, + -214.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -398.17992114007785, + -211.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -398.17992114007785, + -208.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -398.17992114007785, + -205.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -398.17992114007785, + -202.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -398.17992114007785, + -199.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -398.17992114007785, + -196.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -398.17992114007785, + -193.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -398.17992114007785, + -190.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -398.17992114007785, + -187.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -398.17992114007785, + -184.48066940418218, + 0.47677719554048537 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -398.17992114007785, + -184.48066940418218, + 0.47677719554048537 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -396.67992114007785, + -181.88259319282886, + 0.47677719554048537 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-9_619054081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-9_619054081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..883e40cece147ed880f92a76ab233fdc62390c50 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_18-9-9_619054081/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -603.6159785079135, + 24.931975118673776, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -605.1159785079135, + 27.530051330027092, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -606.6159785079135, + 30.128127541380408, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -608.1159785079135, + 32.726203752733724, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -609.6159785079135, + 35.32427996408704, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -611.1159785079135, + 37.922356175440356, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -612.6159785079135, + 40.52043238679367, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -614.1159785079135, + 43.11850859814699, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -615.6159785079135, + 45.716584809500304, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -617.1159785079135, + 48.31466102085362, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -618.6159785079135, + 50.912737232206936, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -620.1159785079135, + 53.51081344356025, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -621.6159785079135, + 56.10888965491357, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -623.1159785079135, + 58.706965866266884, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -624.6159785079135, + 61.3050420776202, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -626.1159785079135, + 63.903118288973516, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -627.6159785079135, + 66.50119450032683, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -629.1159785079135, + 69.09927071168015, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -630.6159785079135, + 71.69734692303346, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -632.1159785079135, + 74.29542313438678, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -633.6159785079135, + 76.8934993457401, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -635.1159785079135, + 79.49157555709341, + 2.790036355672929 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -635.1159785079135, + 79.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.7140547192669, + 80.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.3121309306202, + 82.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.9102071419736, + 83.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -645.508283353327, + 85.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -648.1063595646804, + 86.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -650.7044357760337, + 88.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -653.3025119873871, + 89.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -655.9005881987405, + 91.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -658.4986644100939, + 92.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -661.0967406214472, + 94.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -663.6948168328006, + 95.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -666.292893044154, + 97.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -668.8909692555073, + 98.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -671.4890454668607, + 100.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -674.0871216782141, + 101.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -676.6851978895675, + 103.49157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -679.2832741009208, + 104.99157555709341, + 2.790036355672929 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -681.8813503122742, + 106.49157555709341, + 2.790036355672929 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-42_1857756970/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-42_1857756970/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cde3b647932238ef6280eb0b72eb2fe1518bf2e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-0-42_1857756970/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -950.2158544470639, + 225.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -952.8139306584171, + 226.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -955.4120068697705, + 228.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -958.0100830811239, + 229.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -960.6081592924772, + 231.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -963.2062355038306, + 232.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -965.804311715184, + 234.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -968.4023879265374, + 235.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -971.0004641378907, + 237.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -973.5985403492441, + 238.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -976.1966165605975, + 240.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -978.7946927719508, + 241.73873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -981.3927689833042, + 243.23873763298965, + 2.416636497252415 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -981.3927689833042, + 243.23873763298965, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -982.8927689833042, + 245.83681384434297, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -984.3927689833042, + 248.4348900556963, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -985.8927689833042, + 251.0329662670496, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -987.3927689833042, + 253.63104247840292, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -988.8927689833042, + 256.2291186897562, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023932 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -990.3927689833042, + 258.8271949011095, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -991.8927689833042, + 261.42527111246284, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.3927689833042, + 264.02334732381615, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -994.8927689833042, + 266.62142353516947, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.3927689833042, + 269.2194997465228, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -997.8927689833042, + 271.8175759578761, + 2.416636497252415 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -999.3927689833042, + 274.4156521692294, + 2.416636497252415 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-11-22_471990783/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-11-22_471990783/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7a188f9d7bce50e0f3fb73c79e7548d130476c8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-11-22_471990783/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -726.2013285669093, + 62.691201643054804, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991506 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -728.7994047782627, + 64.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991506 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -731.397480989616, + 65.6912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -733.9955572009694, + 67.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -736.5936334123228, + 68.6912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -739.1917096236762, + 70.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -741.7897858350295, + 71.6912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.3878620463829, + 73.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -746.9859382577363, + 74.6912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -749.5840144690897, + 76.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -752.182090680443, + 77.6912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -754.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -754.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -757.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -760.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -763.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -766.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -769.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -778.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -781.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -784.7801668917964, + 79.1912016430548, + -1.43881337835212 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-12-27_941804289/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-12-27_941804289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fab3f995f267460379bbbe6dafdff74c5e792e58 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-12-27_941804289/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -568.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -571.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -574.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -577.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -580.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -583.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -586.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -589.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -592.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -595.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -598.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -601.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -604.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -607.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -610.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -613.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -616.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -619.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -622.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -628.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -631.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -634.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -643.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -649.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -652.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -655.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -655.0719719355819, + 284.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -657.6700481469352, + 283.14346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -660.2681243582886, + 281.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -662.8662005696419, + 280.14346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -665.4642767809953, + 278.64346044721094, + 4.879337137140606 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -668.0623529923487, + 277.14346044721094, + 4.879337137140606 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-13-18_2037770478/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-13-18_2037770478/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4029ce948316c74a0d73fda48017bdd73368488 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-13-18_2037770478/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -39.35127572485078, + 632.359399022457, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -37.85127572485078, + 634.9574752338103, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -36.35127572485078, + 637.5555514451637, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -34.85127572485078, + 640.1536276565171, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -33.35127572485078, + 642.7517038678704, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -31.85127572485078, + 645.3497800792238, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -30.35127572485078, + 647.9478562905772, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -28.85127572485078, + 650.5459325019306, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -27.35127572485078, + 653.1440087132839, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -25.85127572485078, + 655.7420849246373, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -24.35127572485078, + 658.3401611359907, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -22.85127572485078, + 660.938237347344, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -21.35127572485078, + 663.5363135586974, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -19.85127572485078, + 666.1343897700508, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -18.35127572485078, + 668.7324659814042, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -16.85127572485078, + 671.3305421927575, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -15.35127572485078, + 673.9286184041109, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -13.85127572485078, + 676.5266946154643, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -12.35127572485078, + 679.1247708268177, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -10.85127572485078, + 681.722847038171, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -9.35127572485078, + 684.3209232495244, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -7.85127572485078, + 686.9189994608778, + -1.5367101603655335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -6.35127572485078, + 689.5170756722312, + -1.5367101603655335 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-16-44_1675518157/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-16-44_1675518157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..90dbd5b407cf050976703dbdcb51fa580ae415c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-16-44_1675518157/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 426.3221134328276, + 82.13083686758337, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 427.8221134328276, + 79.53276065623005, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 429.3221134328276, + 76.93468444487674, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 430.8221134328276, + 74.33660823352342, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 432.3221134328276, + 71.7385320221701, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 433.8221134328276, + 69.14045581081679, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 435.3221134328276, + 66.54237959946347, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 436.8221134328276, + 63.94430338811016, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 438.3221134328276, + 61.34622717675684, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 439.8221134328276, + 58.748150965403525, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 441.3221134328276, + 56.15007475405021, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 442.8221134328276, + 53.55199854269689, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 444.3221134328276, + 50.95392233134358, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 445.8221134328276, + 48.35584611999026, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 447.3221134328276, + 45.757769908636945, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 448.8221134328276, + 43.15969369728363, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 450.3221134328276, + 40.56161748593031, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 451.8221134328276, + 37.963541274577, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 453.3221134328276, + 35.36546506322368, + -1.1266395466067438 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 453.3221134328276, + 35.36546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 455.92018964418094, + 33.86546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 458.51826585553425, + 32.36546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 461.11634206688757, + 30.86546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 463.7144182782409, + 29.36546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 466.3124944895942, + 27.86546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 468.9105707009475, + 26.36546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.50864691230083, + 24.86546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 474.10672312365415, + 23.36546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.70479933500746, + 21.86546506322368, + -1.1266395466067438 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 479.3028755463608, + 20.36546506322368, + -1.1266395466067438 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-0_1645933681/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-0_1645933681/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bced07fa447e559eaa81e0e6f8ce09f65f525a6f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-17-0_1645933681/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -760.889739594564, + 166.10763593541577, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -759.389739594564, + 168.7057121467691, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.889739594564, + 171.3037883581224, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -756.389739594564, + 173.90186456947572, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -754.889739594564, + 176.49994078082904, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -753.389739594564, + 179.09801699218235, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -751.889739594564, + 181.69609320353567, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.389739594564, + 184.29416941488898, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -748.889739594564, + 186.8922456262423, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.389739594564, + 189.49032183759562, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -745.889739594564, + 192.08839804894893, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -744.389739594564, + 194.68647426030225, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -742.889739594564, + 197.28455047165556, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -741.389739594564, + 199.88262668300888, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.889739594564, + 202.4807028943622, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -738.389739594564, + 205.0787791057155, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -736.889739594564, + 207.67685531706883, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -735.389739594564, + 210.27493152842214, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -733.889739594564, + 212.87300773977546, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -732.389739594564, + 215.47108395112878, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -730.889739594564, + 218.0691601624821, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -729.389739594564, + 220.6672363738354, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -727.889739594564, + 223.26531258518872, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -726.389739594564, + 225.86338879654204, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -724.889739594564, + 228.46146500789536, + 0.1327703932231934 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.889739594564, + 228.46146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -722.2916633832108, + 229.96146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.6935871718574, + 231.46146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -717.095510960504, + 232.96146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -714.4974347491507, + 234.46146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -711.8993585377973, + 235.96146500789536, + 0.1327703932231934 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -709.3012823264439, + 237.46146500789536, + 0.1327703932231934 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-18-31_864101839/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-18-31_864101839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d62c51d6d8726a8db403f412075c8ca7c2be9df --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-18-31_864101839/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 230.70323141779897, + 763.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 230.70323141779897, + 760.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 230.70323141779897, + 757.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 230.70323141779897, + 754.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 230.70323141779897, + 751.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 230.70323141779897, + 748.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 230.70323141779897, + 745.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 230.70323141779897, + 742.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 230.70323141779897, + 739.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 230.70323141779897, + 736.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.70323141779897, + 733.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 230.70323141779897, + 730.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 230.70323141779897, + 727.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 230.70323141779897, + 724.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 230.70323141779897, + 721.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 230.70323141779897, + 718.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 230.70323141779897, + 715.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 230.70323141779897, + 712.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 230.70323141779897, + 709.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 230.70323141779897, + 706.3519413294601, + -4.140416590140063 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 230.70323141779897, + 706.3519413294601, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 229.20323141779897, + 703.7538651181069, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 227.70323141779897, + 701.1557889067535, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 226.20323141779897, + 698.5577126954001, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 224.70323141779897, + 695.9596364840468, + -4.140416590140063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.20323141779897, + 693.3615602726934, + -4.140416590140063 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-56_1243439214/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-56_1243439214/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2a4cb1a16b4099dc915b2de86bc6db96428d924 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-2-56_1243439214/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -320.7278932479846, + 35.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -318.12981703663127, + 34.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -315.53174082527795, + 32.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -312.93366461392463, + 31.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -310.3355884025713, + 29.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -307.737512191218, + 28.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -305.1394359798647, + 26.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -302.54135976851137, + 25.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.94328355715805, + 23.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.34520734580474, + 22.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -294.7471311344514, + 20.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -292.1490549230981, + 19.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -289.5509787117448, + 17.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -286.9529025003915, + 16.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -284.35482628903816, + 14.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -281.75675007768484, + 13.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -279.1586738663315, + 11.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.5605976549782, + 10.28313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.9625214436249, + 8.78313077033772, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -271.3644452322716, + 7.283130770337721, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -268.76636902091826, + 5.783130770337721, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.16829280956495, + 4.283130770337721, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -263.57021659821163, + 2.7831307703377206, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -260.9721403868583, + 1.2831307703377208, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -258.374064175505, + -0.21686922966227895, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -255.77598796415168, + -1.7168692296622787, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -253.17791175279837, + -3.2168692296622785, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -250.57983554144505, + -4.7168692296622785, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -247.98175933009173, + -6.2168692296622785, + -3.435683812315631 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -245.38368311873842, + -7.7168692296622785, + -3.435683812315631 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-20-23_1404196431/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-20-23_1404196431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80c1147cff438fe2649aa24959b6c84874fb3b88 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-20-23_1404196431/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -935.6384531728471, + 326.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -938.2365293842004, + 324.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -940.8346055955537, + 323.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -943.4326818069071, + 321.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -946.0307580182605, + 320.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -948.6288342296139, + 318.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -951.2269104409672, + 317.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -953.8249866523206, + 315.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -956.423062863674, + 314.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -959.0211390750273, + 312.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -961.6192152863807, + 311.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -964.2172914977341, + 309.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -966.8153677090875, + 308.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -969.4134439204408, + 306.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -972.0115201317942, + 305.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -974.6095963431476, + 303.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -977.207672554501, + 302.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -979.8057487658543, + 300.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -982.4038249772077, + 299.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -985.0019011885611, + 297.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -987.5999773999145, + 296.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -990.1980536112678, + 294.5122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -992.7961298226212, + 293.0122828034669, + -2.6505773226076657 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -992.7961298226212, + 293.0122828034669, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -994.2961298226212, + 290.4142065921136, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.7961298226212, + 287.8161303807603, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -997.2961298226212, + 285.21805416940697, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -998.7961298226212, + 282.61997795805365, + -2.6505773226076657 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1000.2961298226212, + 280.02190174670034, + -2.6505773226076657 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-11_70788355/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-11_70788355/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8b89026aab60aee585e45dc92acfb54b6ca3a39 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-3-11_70788355/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -747.0191269062059, + 389.00698539393215, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -748.5191269062059, + 386.40890918257884, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -750.0191269062059, + 383.8108329712255, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -751.5191269062059, + 381.2127567598722, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -753.0191269062059, + 378.6146805485189, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -754.5191269062059, + 376.0166043371656, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -756.0191269062059, + 373.41852812581226, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -757.5191269062059, + 370.82045191445894, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -759.0191269062059, + 368.2223757031056, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -760.5191269062059, + 365.6242994917523, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -762.0191269062059, + 363.026223280399, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.5191269062059, + 360.4281470690457, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -765.0191269062059, + 357.83007085769236, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.5191269062059, + 355.23199464633905, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.0191269062059, + 352.63391843498573, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -769.5191269062059, + 350.0358422236324, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -771.0191269062059, + 347.4377660122791, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -772.5191269062059, + 344.8396898009258, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -774.0191269062059, + 342.24161358957247, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -775.5191269062059, + 339.64353737821915, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -777.0191269062059, + 337.04546116686583, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -778.5191269062059, + 334.4473849555125, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -780.0191269062059, + 331.8493087441592, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -781.5191269062059, + 329.2512325328059, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -783.0191269062059, + 326.65315632145257, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -784.5191269062059, + 324.05508011009925, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -786.0191269062059, + 321.45700389874594, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -787.5191269062059, + 318.8589276873926, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -789.0191269062059, + 316.2608514760393, + -3.753047480570446 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -789.0191269062059, + 316.2608514760393, + -3.753047480570446 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -789.0191269062059, + 313.2608514760393, + -3.753047480570446 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-31-20_1338299904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-31-20_1338299904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a622cbc9eb07a66846c242a3b326ca296878954 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-31-20_1338299904/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -824.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -821.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -818.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -815.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -812.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -809.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -806.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -803.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -800.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -797.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -794.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -791.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -788.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -785.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -782.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -779.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -776.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -773.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -770.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -767.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -764.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -761.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -758.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -755.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -752.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -749.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -749.8445089350017, + 259.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -747.2464327236485, + 257.5905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -744.6483565122951, + 256.0905131347562, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -742.0502803009417, + 254.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.4522040895883, + 253.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -736.854127878235, + 251.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -734.2560516668816, + 250.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -731.6579754555282, + 248.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -729.0598992441749, + 247.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -726.4618230328215, + 245.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -723.8637468214681, + 244.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -721.2656706101147, + 242.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -718.6675943987614, + 241.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -716.069518187408, + 239.59051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -713.4714419760546, + 238.09051313475618, + 3.4298653969934474 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -713.4714419760546, + 238.09051313475618, + 3.4298653969934474 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -710.4714419760546, + 238.09051313475618, + 3.4298653969934474 + ], + "type": "stop", + "value": 0, + "yaw": 9.43689570931383e-15 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-33-4_435889744/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-33-4_435889744/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9c412bb76cadbcde010349c8537ef4d4546e64c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-33-4_435889744/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -817.7848825950135, + 133.32174332695195, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -816.2848825950135, + 130.72366711559863, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -814.7848825950135, + 128.1255909042453, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -813.2848825950135, + 125.527514692892, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -811.7848825950135, + 122.92943848153868, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -810.2848825950135, + 120.33136227018537, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -808.7848825950135, + 117.73328605883205, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.2848825950135, + 115.13520984747873, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -805.7848825950135, + 112.53713363612542, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -804.2848825950135, + 109.9390574247721, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -802.7848825950135, + 107.34098121341879, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -801.2848825950135, + 104.74290500206547, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -799.7848825950135, + 102.14482879071215, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -798.2848825950135, + 99.54675257935884, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -796.7848825950135, + 96.94867636800552, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -795.2848825950135, + 94.3506001566522, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -793.7848825950135, + 91.75252394529889, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -792.2848825950135, + 89.15444773394557, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -790.7848825950135, + 86.55637152259226, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -789.2848825950135, + 83.95829531123894, + -4.631123308585921 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -787.7848825950135, + 81.36021909988563, + -4.631123308585921 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-26_120306710/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-26_120306710/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..352571003b25ba1851c958656b5d9157f15b40aa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-48-26_120306710/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -869.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -872.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -875.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -878.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -881.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -884.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -887.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -890.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -893.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -896.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -899.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -902.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -905.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -908.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -911.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -914.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -917.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -920.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -923.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -926.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -929.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -932.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -935.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -938.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -941.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -944.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -947.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -950.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -953.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -956.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -959.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -962.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -965.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -968.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -968.9912485719451, + 233.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -971.5893247832985, + 235.0019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -974.1874009946519, + 236.5019281411996, + 4.062544846451194 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -976.7854772060052, + 238.0019281411996, + 4.062544846451194 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-57-4_554290596/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-57-4_554290596/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3d328cc6778909774eab210383a1f1e3639e977 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-57-4_554290596/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 292.3992433541857, + 732.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 292.3992433541857, + 729.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 292.3992433541857, + 726.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.3992433541857, + 723.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 292.3992433541857, + 720.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 292.3992433541857, + 717.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 292.3992433541857, + 714.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 292.3992433541857, + 711.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 292.3992433541857, + 708.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 292.3992433541857, + 705.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 292.3992433541857, + 702.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 292.3992433541857, + 699.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 292.3992433541857, + 696.6854948641122, + 2.507635123752622 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 292.3992433541857, + 696.6854948641122, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 293.8992433541857, + 694.087418652759, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 295.3992433541857, + 691.4893424414056, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 296.8992433541857, + 688.8912662300522, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 298.3992433541857, + 686.2931900186989, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 299.8992433541857, + 683.6951138073455, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 301.3992433541857, + 681.0970375959921, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 302.8992433541857, + 678.4989613846387, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 304.3992433541857, + 675.9008851732854, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 305.8992433541857, + 673.302808961932, + 2.507635123752622 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 307.3992433541857, + 670.7047327505786, + 2.507635123752622 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-6-53_309198987/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-6-53_309198987/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7b7cd35bf01cd68e6a25cb660254b4dc6a7490b7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-6-53_309198987/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -643.5671798316735, + 297.4198976404059, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -645.0671798316735, + 294.8218214290526, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -646.5671798316735, + 292.2237452176993, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.0671798316735, + 289.62566900634596, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.5671798316735, + 287.02759279499264, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.0671798316735, + 284.4295165836393, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -652.5671798316735, + 281.831440372286, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -654.0671798316735, + 279.2333641609327, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -655.5671798316735, + 276.6352879495794, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -657.0671798316735, + 274.03721173822606, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -658.5671798316735, + 271.43913552687275, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -660.0671798316735, + 268.84105931551943, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -661.5671798316735, + 266.2429831041661, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -663.0671798316735, + 263.6449068928128, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -664.5671798316735, + 261.0468306814595, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -666.0671798316735, + 258.44875447010617, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -667.5671798316735, + 255.85067825875285, + 3.538601977490913 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -667.5671798316735, + 255.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -670.1652560430268, + 254.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -672.7633322543802, + 252.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.3614084657336, + 251.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.959484677087, + 249.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -680.5575608884403, + 248.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.1556370997937, + 246.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -685.7537133111471, + 245.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.3517895225004, + 243.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -690.9498657338538, + 242.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -693.5479419452072, + 240.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.1460181565606, + 239.35067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -698.7440943679139, + 237.85067825875285, + 3.538601977490913 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -701.3421705792673, + 236.35067825875285, + 3.538601977490913 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-7-25_530498338/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-7-25_530498338/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7c9492fd6f4079861c388fdcf35f523d8b458b65 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_19-7-25_530498338/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -802.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -799.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -796.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -793.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -790.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -784.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -781.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -778.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -775.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -772.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -769.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -766.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -763.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -760.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -757.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -742.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -736.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -733.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -730.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -727.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -724.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -721.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -715.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -712.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -709.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -706.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -703.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -700.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -697.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -691.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -688.0438761540889, + 236.76805979777447, + 1.9255852835065124 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-0-33_819485269/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-0-33_819485269/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b8718f27daad9c341691b874c9ba9aecc617ed5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-0-33_819485269/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 99.29559099788158, + 54.11775488848618, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 97.79559099788158, + 51.519678677132866, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 96.29559099788158, + 48.92160246577955, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 94.79559099788158, + 46.323526254426234, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 93.29559099788158, + 43.72545004307292, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 91.79559099788158, + 41.1273738317196, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 90.29559099788158, + 38.529297620366286, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 88.79559099788158, + 35.93122140901297, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 87.29559099788158, + 33.333145197659654, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 85.79559099788158, + 30.735068986306338, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 84.29559099788158, + 28.136992774953022, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 82.79559099788158, + 25.538916563599706, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 81.29559099788158, + 22.94084035224639, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.79559099788158, + 20.342764140893074, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 78.29559099788158, + 17.744687929539758, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 76.79559099788158, + 15.146611718186442, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 75.29559099788158, + 12.548535506833126, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 73.79559099788158, + 9.95045929547981, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 72.29559099788158, + 7.352383084126494, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 70.79559099788158, + 4.754306872773178, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.29559099788158, + 2.156230661419862, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 67.79559099788158, + -0.44184554993345415, + 3.0806333750080537 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 67.79559099788158, + -0.44184554993345415, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 65.19751478652826, + -1.941845549933454, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 62.59943857517494, + -3.4418455499334537, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 60.00136236382163, + -4.941845549933453, + 3.0806333750080537 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 57.40328615246831, + -6.441845549933453, + 3.0806333750080537 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-11-41_2125023787/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-11-41_2125023787/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34ceb78bc12ad5d2382a5b66392005dc881872b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-11-41_2125023787/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -470.89449515160226, + -101.60056887518262, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -469.39449515160226, + -104.19864508653593, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -467.89449515160226, + -106.79672129788925, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -466.39449515160226, + -109.39479750924257, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -464.89449515160226, + -111.99287372059588, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -463.39449515160226, + -114.5909499319492, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -461.89449515160226, + -117.18902614330251, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -460.39449515160226, + -119.78710235465583, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -458.89449515160226, + -122.38517856600915, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -457.39449515160226, + -124.98325477736246, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -455.89449515160226, + -127.58133098871578, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -454.39449515160226, + -130.17940720006908, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -452.89449515160226, + -132.7774834114224, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -451.39449515160226, + -135.3755596227757, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -449.89449515160226, + -137.97363583412903, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -448.39449515160226, + -140.57171204548234, + -0.055814808331800414 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -448.39449515160226, + -140.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -448.39449515160226, + -143.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -448.39449515160226, + -146.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -448.39449515160226, + -149.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -448.39449515160226, + -152.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -448.39449515160226, + -155.57171204548234, + -0.055814808331800414 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -448.39449515160226, + -158.57171204548234, + -0.055814808331800414 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-13-51_962764794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-13-51_962764794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cf9a3306150c86333ddfa50552829a62db916a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-13-51_962764794/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -100.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -97.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -94.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -91.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -88.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -88.49690757376906, + -295.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -85.89883136241575, + -294.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -83.30075515106243, + -292.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -80.70267893970912, + -291.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -78.1046027283558, + -289.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -75.50652651700248, + -288.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -72.90845030564917, + -286.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -70.31037409429585, + -285.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -67.71229788294254, + -283.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -65.11422167158922, + -282.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -62.516145460235904, + -280.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -59.91806924888259, + -279.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -57.31999303752927, + -277.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -54.721916826175956, + -276.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -52.12384061482264, + -274.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -49.525764403469324, + -273.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -46.92768819211601, + -271.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -44.32961198076269, + -270.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -41.731535769409376, + -268.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -39.13345955805606, + -267.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -36.535383346702744, + -265.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -33.93730713534943, + -264.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -31.339230923996112, + -262.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -28.741154712642796, + -261.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -26.14307850128948, + -259.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -23.545002289936164, + -258.2370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -20.946926078582848, + -256.7370077772965, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -18.348849867229532, + -255.23700777729653, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -15.750773655876216, + -253.73700777729653, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -13.1526974445229, + -252.23700777729653, + -0.34776191860983463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -10.554621233169584, + -250.73700777729653, + -0.34776191860983463 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-14-40_76277107/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-14-40_76277107/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5ae31a7897d25611edb77f42e90e0efb25644e3d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-14-40_76277107/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -237.60549348601455, + -12.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -235.00741727466124, + -13.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.40934106330792, + -15.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -229.8112648519546, + -16.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -227.2131886406013, + -18.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -224.61511242924797, + -19.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -222.01703621789466, + -21.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -219.41896000654134, + -22.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -216.82088379518802, + -24.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -214.2228075838347, + -25.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -211.6247313724814, + -27.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -209.02665516112808, + -28.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -206.42857894977476, + -30.380659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -203.83050273842144, + -31.880659258675557, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -201.23242652706813, + -33.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -198.6343503157148, + -34.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -196.0362741043615, + -36.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -193.43819789300818, + -37.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -190.84012168165486, + -39.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -188.24204547030155, + -40.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -185.64396925894823, + -42.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -183.04589304759492, + -43.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -180.4478168362416, + -45.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.84974062488828, + -46.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -175.25166441353497, + -48.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -172.65358820218165, + -49.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -170.05551199082834, + -51.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -167.45743577947502, + -52.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -164.8593595681217, + -54.38065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -162.2612833567684, + -55.88065925867556, + -1.4752477216986222 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -162.2612833567684, + -55.88065925867556, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -160.7612833567684, + -58.47873547002887, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -159.2612833567684, + -61.07681168138219, + -1.4752477216986222 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -157.7612833567684, + -63.674887892735505, + -1.4752477216986222 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-15-40_1569115921/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-15-40_1569115921/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49d8369553461cb25e68aaa0c2278374c11c7934 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-15-40_1569115921/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -601.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -604.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -607.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -610.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -613.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -616.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -619.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -622.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -625.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -628.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -631.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -634.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -640.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -643.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -646.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -649.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -652.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -655.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -658.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -661.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -661.2448902344364, + 272.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.8429664457897, + 271.02666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -666.441042657143, + 269.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -669.0391188684964, + 268.02666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.6371950798498, + 266.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -674.2352712912032, + 265.02666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -676.8333475025565, + 263.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.4314237139099, + 262.02666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -682.0294999252633, + 260.52666540226176, + -2.518475360335238 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -684.6275761366167, + 259.02666540226176, + -2.518475360335238 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-18-29_86086317/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-18-29_86086317/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16cf6c900b2d99fc72a6e6b2b0183eade101cfb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-18-29_86086317/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -415.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -412.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -409.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -406.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -403.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -400.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -397.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -394.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -391.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -388.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -388.1641601991443, + -176.4912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -385.566083987791, + -174.9912403100608, + -3.622201574425069 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -385.566083987791, + -174.9912403100608, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -384.066083987791, + -172.39316409870747, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -382.566083987791, + -169.79508788735416, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -381.066083987791, + -167.19701167600084, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -379.566083987791, + -164.59893546464752, + -3.622201574425069 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -379.566083987791, + -164.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -376.9680077764377, + -163.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -374.36993156508436, + -161.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -371.77185535373104, + -160.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.1737791423777, + -158.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -366.5757029310244, + -157.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -363.9776267196711, + -155.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -361.3795505083178, + -154.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -358.78147429696446, + -152.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -356.18339808561115, + -151.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -353.58532187425783, + -149.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -350.9872456629045, + -148.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -348.3891694515512, + -146.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -345.7910932401979, + -145.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -343.19301702884457, + -143.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -340.59494081749125, + -142.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -337.99686460613793, + -140.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -335.3987883947846, + -139.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -332.8007121834313, + -137.59893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -330.202635972078, + -136.09893546464752, + -3.622201574425069 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -327.60455976072467, + -134.59893546464752, + -3.622201574425069 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-19-18_263419017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-19-18_263419017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e8524a543ff1af0b1e7403b0e06a29137e66e36e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-19-18_263419017/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -983.0909248063621, + 474.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -983.0909248063621, + 471.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -983.0909248063621, + 468.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -983.0909248063621, + 465.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -983.0909248063621, + 462.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -983.0909248063621, + 459.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -983.0909248063621, + 456.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -983.0909248063621, + 453.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -983.0909248063621, + 450.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -983.0909248063621, + 447.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -983.0909248063621, + 444.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -983.0909248063621, + 441.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -983.0909248063621, + 438.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -983.0909248063621, + 435.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -983.0909248063621, + 432.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -983.0909248063621, + 429.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -983.0909248063621, + 426.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -983.0909248063621, + 423.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -983.0909248063621, + 420.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -983.0909248063621, + 417.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -983.0909248063621, + 414.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -983.0909248063621, + 411.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -983.0909248063621, + 408.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -983.0909248063621, + 405.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -983.0909248063621, + 402.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -983.0909248063621, + 399.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -983.0909248063621, + 396.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -983.0909248063621, + 393.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -983.0909248063621, + 390.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -983.0909248063621, + 387.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -983.0909248063621, + 384.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -983.0909248063621, + 381.78574036045137, + 2.2957766391838605 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -983.0909248063621, + 378.78574036045137, + 2.2957766391838605 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-20-9_240959156/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-20-9_240959156/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8efbe9d33e0e39b331bef2f82b5283870ca53011 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-20-9_240959156/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 388.2128793762661, + 654.9972940877593, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 389.7128793762661, + 652.399217876406, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 391.2128793762661, + 649.8011416650527, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 392.7128793762661, + 647.2030654536993, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 394.2128793762661, + 644.6049892423459, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 395.7128793762661, + 642.0069130309926, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 397.2128793762661, + 639.4088368196392, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 398.7128793762661, + 636.8107606082858, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 400.2128793762661, + 634.2126843969324, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 401.7128793762661, + 631.6146081855791, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 403.2128793762661, + 629.0165319742257, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 404.7128793762661, + 626.4184557628723, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 406.2128793762661, + 623.820379551519, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 407.7128793762661, + 621.2223033401656, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 409.2128793762661, + 618.6242271288122, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 410.7128793762661, + 616.0261509174588, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 412.2128793762661, + 613.4280747061055, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 413.7128793762661, + 610.8299984947521, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 415.2128793762661, + 608.2319222833987, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 416.7128793762661, + 605.6338460720453, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 418.2128793762661, + 603.035769860692, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 419.7128793762661, + 600.4376936493386, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.2128793762661, + 597.8396174379852, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 422.7128793762661, + 595.2415412266319, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 424.2128793762661, + 592.6434650152785, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 425.7128793762661, + 590.0453888039251, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 427.2128793762661, + 587.4473125925717, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 428.7128793762661, + 584.8492363812184, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 430.2128793762661, + 582.251160169865, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 431.7128793762661, + 579.6530839585116, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 433.2128793762661, + 577.0550077471582, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 434.7128793762661, + 574.4569315358049, + 4.290740010125374 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 434.7128793762661, + 574.4569315358049, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 434.7128793762661, + 571.4569315358049, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 434.7128793762661, + 568.4569315358049, + 4.290740010125374 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 434.7128793762661, + 565.4569315358049, + 4.290740010125374 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-23-32_1175446571/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-23-32_1175446571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..71425513e2eda1e9f20f407479370b9dc10f7ad4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-23-32_1175446571/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -783.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -780.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -777.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -774.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -771.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -768.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -765.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -762.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -759.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -756.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -747.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -744.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -741.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -738.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -735.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -732.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -729.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -726.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -723.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -720.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -720.4737045440359, + 126.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -717.8756283326825, + 125.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -715.2775521213291, + 123.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -712.6794759099757, + 122.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -710.0813996986224, + 120.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -707.483323487269, + 119.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -704.8852472759156, + 117.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -702.2871710645622, + 116.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -699.6890948532089, + 114.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -697.0910186418555, + 113.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -694.4929424305021, + 111.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -691.8948662191488, + 110.39883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -689.2967900077954, + 108.89883891395569, + -1.1665547289108424 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -686.698713796442, + 107.39883891395569, + -1.1665547289108424 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-24-49_1805613091/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-24-49_1805613091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a7025abaf15f84fed360c6f3b2697b0976056eb4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-24-49_1805613091/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -265.6868647824721, + -450.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -268.28494099382544, + -449.2663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -270.88301720517876, + -447.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -273.4810934165321, + -446.2663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -276.0791696278854, + -444.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -278.6772458392387, + -443.2663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -281.275322050592, + -441.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -283.87339826194534, + -440.2663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -286.47147447329866, + -438.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -289.069550684652, + -437.2663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -291.6676268960053, + -435.7663830237683, + 4.894555448513817 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.6676268960053, + -435.7663830237683, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.1676268960053, + -433.168306812415, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -294.6676268960053, + -430.57023060106167, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -296.1676268960053, + -427.97215438970835, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.6676268960053, + -425.37407817835503, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.1676268960053, + -422.7760019670017, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -300.6676268960053, + -420.1779257556484, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -302.1676268960053, + -417.5798495442951, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -303.6676268960053, + -414.98177333294177, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -305.1676268960053, + -412.38369712158845, + 4.894555448513817 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.1676268960053, + -412.38369712158845, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -307.7657031073586, + -410.88369712158845, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -310.3637793187119, + -409.38369712158845, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -312.96185553006524, + -407.88369712158845, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -315.55993174141855, + -406.38369712158845, + 4.894555448513817 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -318.15800795277187, + -404.88369712158845, + 4.894555448513817 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-27-17_363304213/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-27-17_363304213/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2c328e84a09ec7efc9cd9e999d530b45710055d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-27-17_363304213/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 348.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 345.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 342.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 339.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 336.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 333.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 330.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 327.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 324.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 321.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 318.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 315.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 312.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 309.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 306.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 303.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 300.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 297.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 294.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 291.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 288.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 285.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 282.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 279.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 276.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 273.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 270.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 267.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 264.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 261.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 258.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 255.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 252.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 249.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 246.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 243.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 240.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 237.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 237.0631346417153, + 686.9353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 234.46505843036198, + 688.4353294381408, + 2.141593103596364 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 231.86698221900866, + 689.9353294381408, + 2.141593103596364 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-25_775056794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-25_775056794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c1490ba9516fac2b66f9bf020d98bae9cd26157b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-28-25_775056794/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -430.07539268002984, + -58.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -430.07539268002984, + -55.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -430.07539268002984, + -52.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -430.07539268002984, + -49.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -430.07539268002984, + -46.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -430.07539268002984, + -43.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -430.07539268002984, + -40.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -430.07539268002984, + -37.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -430.07539268002984, + -34.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -430.07539268002984, + -31.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -430.07539268002984, + -28.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -430.07539268002984, + -25.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -430.07539268002984, + -22.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -430.07539268002984, + -19.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -430.07539268002984, + -16.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -430.07539268002984, + -13.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -430.07539268002984, + -10.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -430.07539268002984, + -7.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -430.07539268002984, + -4.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -430.07539268002984, + -1.912513779217754, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -430.07539268002984, + 1.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -430.07539268002984, + 4.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -430.07539268002984, + 7.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -430.07539268002984, + 10.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -430.07539268002984, + 13.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -430.07539268002984, + 16.087486220782246, + -4.50216782141325 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -430.07539268002984, + 19.087486220782246, + -4.50216782141325 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-49_660916487/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-49_660916487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..629913b3ac0512aa63ba48beb6526218a3bd1064 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-3-49_660916487/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -174.04790966378815, + 4.569669886492406, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -174.04790966378815, + 1.569669886492406, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -174.04790966378815, + -1.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.04790966378815, + -4.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -174.04790966378815, + -7.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -174.04790966378815, + -10.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -174.04790966378815, + -13.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -174.04790966378815, + -16.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -174.04790966378815, + -19.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -174.04790966378815, + -22.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -174.04790966378815, + -25.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -174.04790966378815, + -28.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -174.04790966378815, + -31.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -174.04790966378815, + -34.430330113507594, + 4.57330835451995 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -174.04790966378815, + -34.430330113507594, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -172.54790966378815, + -37.02840632486091, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -171.04790966378815, + -39.626482536214226, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -169.54790966378815, + -42.22455874756754, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -168.04790966378815, + -44.82263495892086, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -166.54790966378815, + -47.420711170274174, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -165.04790966378815, + -50.01878738162749, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -163.54790966378815, + -52.616863592980806, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.04790966378815, + -55.21493980433412, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -160.54790966378815, + -57.81301601568744, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -159.04790966378815, + -60.411092227040754, + 4.57330835451995 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -157.54790966378815, + -63.00916843839407, + 4.57330835451995 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-23_1033206202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-23_1033206202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d9f7f22bb72d047a64ed808a2ed1ec079468342 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-23_1033206202/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -978.4026764738691, + 420.5077974557038, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -979.9026764738691, + 417.90972124435046, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -981.4026764738691, + 415.31164503299715, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -982.9026764738691, + 412.71356882164383, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -984.4026764738691, + 410.1154926102905, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -985.9026764738691, + 407.5174163989372, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -987.4026764738691, + 404.9193401875839, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -988.9026764738691, + 402.32126397623057, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -990.4026764738691, + 399.72318776487725, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -991.9026764738691, + 397.12511155352394, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -993.4026764738691, + 394.5270353421706, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -994.9026764738691, + 391.9289591308173, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -996.4026764738691, + 389.330882919464, + 1.598067710502205 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -996.4026764738691, + 389.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -996.4026764738691, + 386.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -996.4026764738691, + 383.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -996.4026764738691, + 380.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -996.4026764738691, + 377.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -996.4026764738691, + 374.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -996.4026764738691, + 371.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -996.4026764738691, + 368.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -996.4026764738691, + 365.330882919464, + 1.598067710502205 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -996.4026764738691, + 362.330882919464, + 1.598067710502205 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-36_181226513/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-36_181226513/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2425fe223d310a3a1eef840efb344b77863c0645 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-31-36_181226513/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 240.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 243.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 246.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 249.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 252.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 255.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 258.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 261.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 264.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 267.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 270.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 273.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 276.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 279.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 279.37963167818384, + 653.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 281.97770788953716, + 654.8930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 284.5757841008905, + 656.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 287.1738603122438, + 657.8930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.7719365235971, + 659.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 292.3700127349504, + 660.8930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 294.96808894630374, + 662.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 297.56616515765705, + 663.8930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 300.16424136901037, + 665.3930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 302.7623175803637, + 666.8930793535311, + -1.4637247311704598 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 305.360393791717, + 668.3930793535311, + -1.4637247311704598 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-25_986478257/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-25_986478257/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5cf0a93bfba537d02906385498ccffc8f7e6823b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-25_986478257/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -489.54337757434723, + -348.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -492.14145378570055, + -347.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -494.73952999705386, + -345.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -497.3376062084072, + -344.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -499.9356824197605, + -342.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -502.5337586311138, + -341.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -505.13183484246713, + -339.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -507.72991105382044, + -338.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -510.32798726517376, + -336.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -512.9260634765271, + -335.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -515.5241396878805, + -333.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -518.1222158992339, + -332.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -520.7202921105873, + -330.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -523.3183683219406, + -329.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -525.916444533294, + -327.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -528.5145207446474, + -326.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -531.1125969560007, + -324.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -533.7106731673541, + -323.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -536.3087493787075, + -321.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -538.9068255900609, + -320.181033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -541.5049018014142, + -318.681033624664, + 4.657446293792427 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -541.5049018014142, + -318.681033624664, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -543.0049018014142, + -316.0829574133107, + 4.657446293792427 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -544.5049018014142, + -313.48488120195736, + 4.657446293792427 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-53_1650994571/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-53_1650994571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f7e3e9ffd74850a98937f4ab9c0bc3b087fc037a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-53_1650994571/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -688.4580537203888, + -4.03294963231636, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -686.9580537203888, + -1.4348734209630436, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -685.4580537203888, + 1.1632027903902724, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -683.9580537203888, + 3.7612790017435884, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -682.4580537203888, + 6.359355213096904, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -680.9580537203888, + 8.95743142445022, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -679.4580537203888, + 11.555507635803536, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -677.9580537203888, + 14.153583847156852, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -676.4580537203888, + 16.75166005851017, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.9580537203888, + 19.349736269863484, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -673.4580537203888, + 21.9478124812168, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -671.9580537203888, + 24.545888692570117, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -670.4580537203888, + 27.143964903923433, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -668.9580537203888, + 29.74204111527675, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -667.4580537203888, + 32.340117326630065, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -665.9580537203888, + 34.93819353798338, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -664.4580537203888, + 37.5362697493367, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -662.9580537203888, + 40.13434596069001, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -661.4580537203888, + 42.73242217204333, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.9580537203888, + 45.330498383396645, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -658.4580537203888, + 47.92857459474996, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.9580537203888, + 50.52665080610328, + -3.4949789119496604 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -656.9580537203888, + 50.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -656.9580537203888, + 53.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.9580537203888, + 56.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -656.9580537203888, + 59.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.9580537203888, + 62.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -656.9580537203888, + 65.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -656.9580537203888, + 68.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -656.9580537203888, + 71.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -656.9580537203888, + 74.52665080610328, + -3.4949789119496604 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -656.9580537203888, + 77.52665080610328, + -3.4949789119496604 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-7_1992865128/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-7_1992865128/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06ed8414f7cc4aad3acc9af259e7817f8405bb94 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-32-7_1992865128/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.8755244800057, + 252.9709660214744, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -940.3755244800057, + 255.5690422328277, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -941.8755244800057, + 258.167118444181, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -943.3755244800057, + 260.76519465553434, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -944.8755244800057, + 263.36327086688766, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.3755244800057, + 265.961347078241, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -947.8755244800057, + 268.5594232895943, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.3755244800057, + 271.1574995009476, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -950.8755244800057, + 273.7555757123009, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -952.3755244800057, + 276.35365192365424, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.8755244800057, + 278.95172813500756, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -955.3755244800057, + 281.5498043463609, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -956.8755244800057, + 284.1478805577142, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -958.3755244800057, + 286.7459567690675, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -959.8755244800057, + 289.3440329804208, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -961.3755244800057, + 291.94210919177414, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -962.8755244800057, + 294.54018540312745, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -964.3755244800057, + 297.13826161448077, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -965.8755244800057, + 299.7363378258341, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -967.3755244800057, + 302.3344140371874, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -968.8755244800057, + 304.9324902485407, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -970.3755244800057, + 307.53056645989403, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -971.8755244800057, + 310.12864267124735, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.3755244800057, + 312.72671888260066, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -974.8755244800057, + 315.324795093954, + 1.4976429806682834 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -974.8755244800057, + 315.324795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -977.473600691359, + 316.824795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -980.0716769027124, + 318.324795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -982.6697531140658, + 319.824795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -985.2678293254191, + 321.324795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -987.8659055367725, + 322.824795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -990.4639817481259, + 324.324795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -993.0620579594793, + 325.824795093954, + 1.4976429806682834 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -995.6601341708326, + 327.324795093954, + 1.4976429806682834 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-37-34_118993446/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-37-34_118993446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..895ae7ca575f82bfadc716958eb72d4dbd5c26da --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-37-34_118993446/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 349.50232970265864, + -28.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 349.50232970265864, + -25.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 349.50232970265864, + -22.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 349.50232970265864, + -19.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 349.50232970265864, + -16.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 349.50232970265864, + -13.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 349.50232970265864, + -10.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 349.50232970265864, + -7.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 349.50232970265864, + -4.138498020393953, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 349.50232970265864, + -1.1384980203939534, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 349.50232970265864, + 1.8615019796060466, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 349.50232970265864, + 4.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 349.50232970265864, + 7.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 349.50232970265864, + 10.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 349.50232970265864, + 13.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 349.50232970265864, + 16.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 349.50232970265864, + 19.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 349.50232970265864, + 22.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 349.50232970265864, + 25.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 349.50232970265864, + 28.861501979606047, + 2.1265844198769184 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 349.50232970265864, + 28.861501979606047, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 348.00232970265864, + 31.459578190959363, + 2.1265844198769184 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 346.50232970265864, + 34.05765440231268, + 2.1265844198769184 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-39-6_707255825/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-39-6_707255825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f491c1bc27fbe868b9db85c2c3965636c6167a69 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-39-6_707255825/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -43.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -40.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -37.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -34.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -31.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -28.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -25.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -22.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -19.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -16.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -13.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -10.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -7.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -4.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -1.807950550258596, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 1.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 7.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 13.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 16.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 19.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 22.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 25.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 28.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 31.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 34.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 37.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 40.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 43.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 46.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 49.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 52.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 55.192049449741404, + -6.037365100749557, + -2.652930921411672 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-4-3_67974802/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-4-3_67974802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..70b1d32fa2e979d8fdea1e1a2141c8502a991630 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-4-3_67974802/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -870.3565918160323, + -83.97682207818336, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -868.8565918160323, + -81.37874586683004, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -867.3565918160323, + -78.78066965547673, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -865.8565918160323, + -76.18259344412341, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -864.3565918160323, + -73.5845172327701, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -862.8565918160323, + -70.98644102141678, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -861.3565918160323, + -68.38836481006346, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -859.8565918160323, + -65.79028859871015, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -858.3565918160323, + -63.19221238735683, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.8565918160323, + -60.594136176003516, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -855.3565918160323, + -57.9960599646502, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -853.8565918160323, + -55.397983753296884, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -852.3565918160323, + -52.79990754194357, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -850.8565918160323, + -50.20183133059025, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -849.3565918160323, + -47.603755119236936, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -847.8565918160323, + -45.00567890788362, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -846.3565918160323, + -42.407602696530304, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -844.8565918160323, + -39.80952648517699, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -843.3565918160323, + -37.21145027382367, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -841.8565918160323, + -34.613374062470356, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -840.3565918160323, + -32.01529785111704, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -838.8565918160323, + -29.417221639763724, + -0.2325484189664362 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -838.8565918160323, + -29.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -838.8565918160323, + -26.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -838.8565918160323, + -23.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -838.8565918160323, + -20.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -838.8565918160323, + -17.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -838.8565918160323, + -14.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -838.8565918160323, + -11.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -838.8565918160323, + -8.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -838.8565918160323, + -5.417221639763724, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -838.8565918160323, + -2.4172216397637243, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -838.8565918160323, + 0.5827783602362757, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -838.8565918160323, + 3.5827783602362757, + -0.2325484189664362 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -838.8565918160323, + 3.5827783602362757, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -837.3565918160323, + 6.180854571589592, + -0.2325484189664362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -835.8565918160323, + 8.778930782942908, + -0.2325484189664362 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-41-34_858829294/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-41-34_858829294/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fa5e3ca27e3f647dbf95f813448a497be5dbe443 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-41-34_858829294/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 412.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 409.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 406.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 403.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 400.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 397.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 394.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 391.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 388.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 385.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 382.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 379.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 376.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 373.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 373.5014359521118, + 17.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 370.9033597407585, + 19.373677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 368.3052835294052, + 20.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 365.70720731805187, + 22.373677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 363.10913110669856, + 23.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 360.51105489534524, + 25.373677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 357.9129786839919, + 26.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 355.3149024726386, + 28.373677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 352.7168262612853, + 29.873677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 350.118750049932, + 31.373677285023753, + -4.00109428151854 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 347.52067383857866, + 32.87367728502375, + -4.00109428151854 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-7_1518260757/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-7_1518260757/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd796afd9634e88b6f413d50bbc82b1af65be2f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-42-7_1518260757/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -607.9990794986882, + 157.54719658976126, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -609.4990794986882, + 154.94912037840794, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -610.9990794986882, + 152.35104416705462, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -612.4990794986882, + 149.7529679557013, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -613.9990794986882, + 147.154891744348, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -615.4990794986882, + 144.55681553299468, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -616.9990794986882, + 141.95873932164136, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -618.4990794986882, + 139.36066311028804, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -619.9990794986882, + 136.76258689893473, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -621.4990794986882, + 134.1645106875814, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -622.9990794986882, + 131.5664344762281, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -624.4990794986882, + 128.96835826487478, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -625.9990794986882, + 126.37028205352146, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -627.4990794986882, + 123.77220584216815, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -628.9990794986882, + 121.17412963081483, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -630.4990794986882, + 118.57605341946152, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -631.9990794986882, + 115.9779772081082, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -633.4990794986882, + 113.37990099675488, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -634.9990794986882, + 110.78182478540157, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -636.4990794986882, + 108.18374857404825, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -637.9990794986882, + 105.58567236269494, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -639.4990794986882, + 102.98759615134162, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.9990794986882, + 100.3895199399883, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -642.4990794986882, + 97.79144372863499, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -643.9990794986882, + 95.19336751728167, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -645.4990794986882, + 92.59529130592836, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.9990794986882, + 89.99721509457504, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -648.4990794986882, + 87.39913888322172, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -649.9990794986882, + 84.80106267186841, + 2.2993006174602364 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -649.9990794986882, + 84.80106267186841, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -652.5971557100415, + 83.30106267186841, + 2.2993006174602364 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -655.1952319213949, + 81.80106267186841, + 2.2993006174602364 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-47-40_419914800/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-47-40_419914800/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9bc2fea88e1360f071840d19d172ec42967e9ebd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-47-40_419914800/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 121.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 124.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 127.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 130.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 133.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 136.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 139.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 142.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 145.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 148.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 151.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 154.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 157.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 160.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 163.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 166.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 169.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 172.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 175.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 178.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 181.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 184.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 187.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 190.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 193.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 196.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 199.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 202.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 202.27413181130368, + 682.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 204.872208022657, + 684.0546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 207.4702842340103, + 685.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 210.06836044536362, + 687.0546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 212.66643665671694, + 688.5546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 215.26451286807026, + 690.0546025998586, + 3.32373738313591 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 215.26451286807026, + 690.0546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 218.26451286807026, + 690.0546025998586, + 3.32373738313591 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 221.26451286807026, + 690.0546025998586, + 3.32373738313591 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-50-55_64564349/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-50-55_64564349/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6fcb8548b53ab17c47ac8761f503eca0e14d6461 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-50-55_64564349/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -960.8897626047315, + 247.93040481059234, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -962.3897626047315, + 250.52848102194565, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -963.8897626047315, + 253.12655723329897, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -965.3897626047315, + 255.72463344465228, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -966.8897626047315, + 258.3227096560056, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -968.3897626047315, + 260.9207858673589, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -969.8897626047315, + 263.51886207871223, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -971.3897626047315, + 266.11693829006555, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -972.8897626047315, + 268.71501450141886, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -974.3897626047315, + 271.3130907127722, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -975.8897626047315, + 273.9111669241255, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -977.3897626047315, + 276.5092431354788, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -978.8897626047315, + 279.1073193468321, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -980.3897626047315, + 281.70539555818544, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -981.8897626047315, + 284.30347176953876, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -983.3897626047315, + 286.9015479808921, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -984.8897626047315, + 289.4996241922454, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -986.3897626047315, + 292.0977004035987, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -987.8897626047315, + 294.695776614952, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -989.3897626047315, + 297.29385282630534, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -990.8897626047315, + 299.89192903765866, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -992.3897626047315, + 302.490005249012, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -993.8897626047315, + 305.0880814603653, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -995.3897626047315, + 307.6861576717186, + -1.8651437426566209 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -995.3897626047315, + 307.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.3897626047315, + 310.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -995.3897626047315, + 313.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -995.3897626047315, + 316.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -995.3897626047315, + 319.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -995.3897626047315, + 322.6861576717186, + -1.8651437426566209 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -995.3897626047315, + 325.6861576717186, + -1.8651437426566209 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-13_529302443/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-13_529302443/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17e5745044af982621773a2f914fe4922040da19 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-13_529302443/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -502.2051277620955, + -117.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -499.6070515507422, + -118.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -497.0089753393889, + -120.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -494.41089912803557, + -121.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -491.81282291668225, + -123.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -489.21474670532893, + -124.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -486.6166704939756, + -126.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -484.0185942826223, + -127.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -481.420518071269, + -129.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -478.82244185991567, + -130.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -476.22436564856235, + -132.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -473.62628943720904, + -133.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -471.0282132258557, + -135.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -468.4301370145024, + -136.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -465.8320608031491, + -138.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -463.2339845917958, + -139.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -460.63590838044246, + -141.3144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -458.03783216908914, + -142.8144346213123, + 0.926051927127328 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -458.03783216908914, + -142.8144346213123, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -456.53783216908914, + -145.41251083266562, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -455.03783216908914, + -148.01058704401893, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -453.53783216908914, + -150.60866325537225, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -452.03783216908914, + -153.20673946672557, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -450.53783216908914, + -155.80481567807888, + 0.926051927127328 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -449.03783216908914, + -158.4028918894322, + 0.926051927127328 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-27_418646579/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-27_418646579/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6cba227cf8635211b353260d69b1a959b417d6f4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_2-9-27_418646579/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -982.7646491845014, + 412.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -982.7646491845014, + 409.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -982.7646491845014, + 406.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -982.7646491845014, + 403.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -982.7646491845014, + 400.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -982.7646491845014, + 397.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -982.7646491845014, + 394.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -982.7646491845014, + 391.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -982.7646491845014, + 388.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -982.7646491845014, + 385.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -982.7646491845014, + 382.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -982.7646491845014, + 379.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -982.7646491845014, + 376.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -982.7646491845014, + 373.4367658208696, + -1.962738971596068 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -982.7646491845014, + 373.4367658208696, + -1.962738971596068 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -982.7646491845014, + 373.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -985.3627253958548, + 371.9367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -987.9608016072082, + 370.4367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -990.5588778185615, + 368.9367658208696, + -1.962738971596068 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -990.5588778185615, + 368.9367658208696, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -992.0588778185615, + 366.3386896095163, + -1.962738971596068 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.5588778185615, + 363.74061339816296, + -1.962738971596068 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-0-35_1104627321/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-0-35_1104627321/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32163f173e14a7f2aa1cbb9e092c91df553b4a2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-0-35_1104627321/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -418.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -415.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -412.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -409.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -406.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -403.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -400.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -397.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -394.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -391.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -388.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -385.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -382.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -379.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -376.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -373.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -370.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -370.3620345058815, + -388.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -367.7639582945282, + -387.4809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -365.1658820831749, + -385.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.5678058718216, + -384.4809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -359.96972966046826, + -382.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -357.37165344911494, + -381.4809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -354.77357723776163, + -379.9809781601336, + 4.437648100716302 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -352.1755010264083, + -378.4809781601336, + 4.437648100716302 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-15-55_695748720/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-15-55_695748720/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..104baa49c46c193df7f51a1d6a5260bd44cbeb9e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-15-55_695748720/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -948.9818295196704, + 343.75482131582993, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -950.4818295196704, + 341.1567451044766, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.9818295196704, + 338.5586688931233, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -953.4818295196704, + 335.96059268177, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -954.9818295196704, + 333.36251647041667, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -956.4818295196704, + 330.76444025906335, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -957.9818295196704, + 328.16636404771003, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -959.4818295196704, + 325.5682878363567, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -960.9818295196704, + 322.9702116250034, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -962.4818295196704, + 320.3721354136501, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -963.9818295196704, + 317.77405920229677, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -965.4818295196704, + 315.17598299094345, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -966.9818295196704, + 312.57790677959014, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -968.4818295196704, + 309.9798305682368, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -969.9818295196704, + 307.3817543568835, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -971.4818295196704, + 304.7836781455302, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -972.9818295196704, + 302.1856019341769, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -974.4818295196704, + 299.58752572282356, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -975.9818295196704, + 296.98944951147024, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -977.4818295196704, + 294.3913733001169, + 3.105481150978086 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.4818295196704, + 294.3913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -980.0799057310237, + 292.8913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -982.6779819423771, + 291.3913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -985.2760581537304, + 289.8913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -987.8741343650838, + 288.3913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -990.4722105764372, + 286.8913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -993.0702867877906, + 285.3913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -995.6683629991439, + 283.8913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -998.2664392104973, + 282.3913733001169, + 3.105481150978086 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -1000.8645154218507, + 280.8913733001169, + 3.105481150978086 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-24-28_1954696532/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-24-28_1954696532/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..242033e75f9321fc913f40274351b41bb5168f69 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-24-28_1954696532/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -905.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -902.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -899.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -896.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -893.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -890.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -887.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -884.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -881.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -878.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -875.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -872.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -869.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -866.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -863.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -860.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -857.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -854.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -851.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -848.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -845.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -842.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -839.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -836.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -833.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -830.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -827.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -824.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -821.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -818.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -815.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -812.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -809.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -806.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -803.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -800.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -797.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -794.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -791.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -791.1280161987132, + 85.13331283675366, + -4.341535379258134 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -788.52993998736, + 83.63331283675366, + -4.341535379258134 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-21_101323875/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-21_101323875/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbec0af17e561a905dae0f0972eda1d3bb452b3e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-21_101323875/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -644.0038771562489, + 257.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -646.6019533676022, + 256.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -649.2000295789555, + 254.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -651.7981057903089, + 253.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -654.3961820016623, + 251.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -656.9942582130157, + 250.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -659.592334424369, + 248.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -662.1904106357224, + 247.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -664.7884868470758, + 245.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.3865630584291, + 244.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.9846392697825, + 242.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -672.5827154811359, + 241.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -675.1807916924893, + 239.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -677.7788679038426, + 238.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -680.376944115196, + 236.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -682.9750203265494, + 235.31803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -685.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -685.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -688.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -691.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -694.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -697.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -700.5730965379028, + 233.81803687622204, + 0.6709252834715276 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-50_380390179/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-50_380390179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dc37d7e50e695857e199c0dee123506b423e0c4c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-25-50_380390179/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -843.3459753993951, + 511.44588247293524, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.8459753993951, + 508.8478062615819, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -846.3459753993951, + 506.2497300502286, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -847.8459753993951, + 503.6516538388753, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -849.3459753993951, + 501.053577627522, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -850.8459753993951, + 498.45550141616866, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -852.3459753993951, + 495.85742520481534, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -853.8459753993951, + 493.259348993462, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -855.3459753993951, + 490.6612727821087, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -856.8459753993951, + 488.0631965707554, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -858.3459753993951, + 485.4651203594021, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -859.8459753993951, + 482.86704414804876, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -861.3459753993951, + 480.26896793669545, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -862.8459753993951, + 477.67089172534213, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -864.3459753993951, + 475.0728155139888, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -865.8459753993951, + 472.4747393026355, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -867.3459753993951, + 469.8766630912822, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -868.8459753993951, + 467.27858687992887, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -870.3459753993951, + 464.68051066857555, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -871.8459753993951, + 462.08243445722223, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -873.3459753993951, + 459.4843582458689, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -874.8459753993951, + 456.8862820345156, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -876.3459753993951, + 454.2882058231623, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -877.8459753993951, + 451.69012961180897, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -879.3459753993951, + 449.09205340045565, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -880.8459753993951, + 446.49397718910234, + 0.4595791904054458 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -880.8459753993951, + 446.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -880.8459753993951, + 443.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -880.8459753993951, + 440.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -880.8459753993951, + 437.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -880.8459753993951, + 434.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -880.8459753993951, + 431.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -880.8459753993951, + 428.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -880.8459753993951, + 425.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -880.8459753993951, + 422.49397718910234, + 0.4595791904054458 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -880.8459753993951, + 419.49397718910234, + 0.4595791904054458 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-28-18_1766146081/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-28-18_1766146081/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b15ccae21a232f6469022870e8121a0d5073ff96 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-28-18_1766146081/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.18178887598106, + -402.2954065424555, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -343.68178887598106, + -404.8934827538088, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -342.18178887598106, + -407.49155896516214, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -340.68178887598106, + -410.08963517651546, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -339.18178887598106, + -412.6877113878688, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -337.68178887598106, + -415.2857875992221, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -336.18178887598106, + -417.8838638105754, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -334.68178887598106, + -420.4819400219287, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -333.18178887598106, + -423.08001623328204, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -331.68178887598106, + -425.67809244463535, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -330.18178887598106, + -428.27616865598867, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -328.68178887598106, + -430.874244867342, + -2.064005787167476 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -328.68178887598106, + -430.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -326.08371266462774, + -432.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -323.4856364532744, + -433.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -320.8875602419211, + -435.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -318.2894840305678, + -436.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -315.6914078192145, + -438.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -313.09333160786116, + -439.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -310.49525539650784, + -441.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -307.8971791851545, + -442.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -305.2991029738012, + -444.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -302.7010267624479, + -445.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -300.1029505510946, + -447.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -297.50487433974126, + -448.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -294.90679812838795, + -450.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.30872191703463, + -451.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -289.7106457056813, + -453.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -287.112569494328, + -454.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -284.5144932829747, + -456.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -281.91641707162137, + -457.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -279.31834086026805, + -459.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -276.72026464891474, + -460.874244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -274.1221884375614, + -462.374244867342, + -2.064005787167476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -271.5241122262081, + -463.874244867342, + -2.064005787167476 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-53_1534230297/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-53_1534230297/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c3b5848f764dedf060ed18b82291e934a0c5b97 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-31-53_1534230297/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -671.6510804020936, + -41.74625042550994, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -670.1510804020936, + -39.148174214156626, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -668.6510804020936, + -36.55009800280331, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -667.1510804020936, + -33.952021791449994, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -665.6510804020936, + -31.353945580096678, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -664.1510804020936, + -28.75586936874336, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -662.6510804020936, + -26.157793157390046, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -661.1510804020936, + -23.55971694603673, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.6510804020936, + -20.961640734683414, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.1510804020936, + -18.363564523330098, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -656.6510804020936, + -15.765488311976782, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -655.1510804020936, + -13.167412100623466, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -653.6510804020936, + -10.56933588927015, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -652.1510804020936, + -7.971259677916834, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.6510804020936, + -5.373183466563518, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -649.1510804020936, + -2.7751072552102016, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -647.6510804020936, + -0.17703104385688562, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -646.1510804020936, + 2.4210451674964304, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -644.6510804020936, + 5.019121378849746, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -643.1510804020936, + 7.617197590203062, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -641.6510804020936, + 10.215273801556378, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.1510804020936, + 12.813350012909694, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -638.6510804020936, + 15.41142622426301, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -637.1510804020936, + 18.009502435616326, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -635.6510804020936, + 20.607578646969642, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -634.1510804020936, + 23.20565485832296, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -632.6510804020936, + 25.803731069676275, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -631.1510804020936, + 28.40180728102959, + -4.058908784679236 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -631.1510804020936, + 28.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -631.1510804020936, + 31.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -631.1510804020936, + 34.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -631.1510804020936, + 37.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -631.1510804020936, + 40.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -631.1510804020936, + 43.40180728102959, + -4.058908784679236 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -631.1510804020936, + 46.40180728102959, + -4.058908784679236 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-40_1341443181/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-40_1341443181/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..507b88d1d73d999e3404e365c6e2fe9a0784a65e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-32-40_1341443181/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -685.223386739365, + 187.7514443383096, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -683.723386739365, + 185.15336812695628, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.223386739365, + 182.55529191560296, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -680.723386739365, + 179.95721570424965, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.223386739365, + 177.35913949289633, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -677.723386739365, + 174.76106328154302, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -676.223386739365, + 172.1629870701897, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -674.723386739365, + 169.56491085883638, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -673.223386739365, + 166.96683464748307, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -671.723386739365, + 164.36875843612975, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -670.223386739365, + 161.77068222477644, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.723386739365, + 159.17260601342312, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.223386739365, + 156.5745298020698, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -665.723386739365, + 153.9764535907165, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -664.223386739365, + 151.37837737936317, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -662.723386739365, + 148.78030116800986, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -661.223386739365, + 146.18222495665654, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -659.723386739365, + 143.58414874530322, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -658.223386739365, + 140.9860725339499, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -656.723386739365, + 138.3879963225966, + -4.844898075493938 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -656.723386739365, + 138.3879963225966, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -656.723386739365, + 135.3879963225966, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -656.723386739365, + 132.3879963225966, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -656.723386739365, + 129.3879963225966, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -656.723386739365, + 126.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -656.723386739365, + 123.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -656.723386739365, + 120.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -656.723386739365, + 117.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -656.723386739365, + 114.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -656.723386739365, + 111.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -656.723386739365, + 108.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -656.723386739365, + 105.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -656.723386739365, + 102.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -656.723386739365, + 99.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -656.723386739365, + 96.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -656.723386739365, + 93.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -656.723386739365, + 90.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -656.723386739365, + 87.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -656.723386739365, + 84.38799632259659, + -4.844898075493938 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -656.723386739365, + 81.38799632259659, + -4.844898075493938 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-34-3_1623380595/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-34-3_1623380595/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fb0a5d8dee1235d6591aca033e90351479ec409 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-34-3_1623380595/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 106.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 109.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 112.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 115.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 118.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 121.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 124.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 127.97477567759806, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 133.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 136.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 139.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 142.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 145.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 148.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 151.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 154.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 157.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 160.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 163.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 166.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 169.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 172.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 175.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 178.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 181.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 184.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 187.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 190.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 193.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 196.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 199.97477567759807, + 774.5422337130291, + 1.4477534949458057 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-35-38_1813080154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-35-38_1813080154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d7f456b99a09227974239c5bd6b8837c206ef5a9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-35-38_1813080154/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -482.11105413982534, + -252.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -484.70913035117866, + -253.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -487.307206562532, + -255.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -489.9052827738853, + -256.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -492.5033589852386, + -258.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -495.1014351965919, + -259.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -497.69951140794524, + -261.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -500.29758761929855, + -262.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -502.89566383065187, + -264.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -505.4937400420052, + -265.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -508.0918162533585, + -267.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -510.6898924647118, + -268.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -513.2879686760651, + -270.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -515.8860448874184, + -271.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -518.4841210987718, + -273.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -521.0821973101251, + -274.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -523.6802735214785, + -276.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -526.2783497328319, + -277.9053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -528.8764259441853, + -279.4053189115466, + 2.6714886090743892 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -528.8764259441853, + -279.4053189115466, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -530.3764259441853, + -282.0033951228999, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -531.8764259441853, + -284.60147133425323, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -533.3764259441853, + -287.19954754560655, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -534.8764259441853, + -289.79762375695987, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -536.3764259441853, + -292.3956999683132, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -537.8764259441853, + -294.9937761796665, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -539.3764259441853, + -297.5918523910198, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -540.8764259441853, + -300.18992860237313, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -542.3764259441853, + -302.78800481372645, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -543.8764259441853, + -305.38608102507976, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -545.3764259441853, + -307.9841572364331, + 2.6714886090743892 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -546.8764259441853, + -310.5822334477864, + 2.6714886090743892 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-46-14_772634225/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-46-14_772634225/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af8e1ef6f94c51b9ac3fcb69da23361c9acbea6f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-46-14_772634225/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -696.7807610450756, + 10.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -699.3788372564288, + 12.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -701.9769134677822, + 13.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -704.5749896791356, + 15.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -707.1730658904889, + 16.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -709.7711421018423, + 18.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -712.3692183131957, + 19.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.9672945245491, + 21.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -717.5653707359024, + 22.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -720.1634469472558, + 24.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -722.7615231586092, + 25.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -725.3595993699626, + 27.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.9576755813159, + 28.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -730.5557517926693, + 30.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -733.1538280040227, + 31.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -735.751904215376, + 33.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -738.3499804267294, + 34.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -740.9480566380828, + 36.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -743.5461328494362, + 37.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -746.1442090607895, + 39.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -748.7422852721429, + 40.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.3403614834963, + 42.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -753.9384376948497, + 43.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -756.536513906203, + 45.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -759.1345901175564, + 46.77943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -761.7326663289098, + 48.27943825446033, + 3.4156719019219324 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -761.7326663289098, + 48.27943825446033, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -763.2326663289098, + 50.87751446581365, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -764.7326663289098, + 53.47559067716696, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -766.2326663289098, + 56.07366688852028, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -767.7326663289098, + 58.671743099873595, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -769.2326663289098, + 61.26981931122691, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -770.7326663289098, + 63.86789552258023, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -772.2326663289098, + 66.46597173393354, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -773.7326663289098, + 69.06404794528686, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -775.2326663289098, + 71.66212415664017, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -776.7326663289098, + 74.26020036799349, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -778.2326663289098, + 76.8582765793468, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -779.7326663289098, + 79.45635279070012, + 3.4156719019219324 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -779.7326663289098, + 79.45635279070012, + 3.4156719019219324 + ], + "type": "turn left", + "value": 30, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -779.7326663289098, + 79.45635279070012, + 3.4156719019219324 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -782.7326663289098, + 79.45635279070012, + 3.4156719019219324 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-53-54_646755199/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-53-54_646755199/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3ed1693db1c2a9be27ae107905cb01440a7bc0e8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-53-54_646755199/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -401.7896262785772, + 371.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -401.7896262785772, + 374.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -401.7896262785772, + 377.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -401.7896262785772, + 380.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -401.7896262785772, + 383.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -401.7896262785772, + 386.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -401.7896262785772, + 389.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -401.7896262785772, + 392.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -401.7896262785772, + 395.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -401.7896262785772, + 398.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -401.7896262785772, + 401.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -401.7896262785772, + 404.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -401.7896262785772, + 407.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -401.7896262785772, + 410.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -401.7896262785772, + 413.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -401.7896262785772, + 416.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -401.7896262785772, + 419.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -401.7896262785772, + 422.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -401.7896262785772, + 425.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -401.7896262785772, + 428.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -401.7896262785772, + 431.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -401.7896262785772, + 434.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -401.7896262785772, + 437.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -401.7896262785772, + 440.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -401.7896262785772, + 443.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -401.7896262785772, + 446.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -401.7896262785772, + 449.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -401.7896262785772, + 452.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -401.7896262785772, + 455.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -401.7896262785772, + 458.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -401.7896262785772, + 461.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -401.7896262785772, + 464.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -401.7896262785772, + 467.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -401.7896262785772, + 470.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -401.7896262785772, + 473.5152783174112, + 0.5524397382862585 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -401.7896262785772, + 473.5152783174112, + 0.5524397382862585 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -400.2896262785772, + 476.1133545287645, + 0.5524397382862585 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-8-34_1022089159/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-8-34_1022089159/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34e32e433ea0f1ec33f1b37ab6b95c3fdc52afc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_20-8-34_1022089159/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -970.7023636656202, + 424.128218913177, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -969.2023636656202, + 421.5301427018237, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -967.7023636656202, + 418.9320664904704, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -966.2023636656202, + 416.3339902791171, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.7023636656202, + 413.73591406776376, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -963.2023636656202, + 411.13783785641044, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.7023636656202, + 408.5397616450571, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -960.2023636656202, + 405.9416854337038, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.7023636656202, + 403.3436092223505, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -957.2023636656202, + 400.7455330109972, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -955.7023636656202, + 398.14745679964386, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -954.2023636656202, + 395.54938058829055, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -952.7023636656202, + 392.95130437693723, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -951.2023636656202, + 390.3532281655839, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -949.7023636656202, + 387.7551519542306, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -948.2023636656202, + 385.1570757428773, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -946.7023636656202, + 382.55899953152397, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -945.2023636656202, + 379.96092332017065, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -943.7023636656202, + 377.36284710881733, + -1.37090769820227 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -943.7023636656202, + 377.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -943.7023636656202, + 374.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -943.7023636656202, + 371.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -943.7023636656202, + 368.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -943.7023636656202, + 365.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -943.7023636656202, + 362.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -943.7023636656202, + 359.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -943.7023636656202, + 356.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -943.7023636656202, + 353.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -943.7023636656202, + 350.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -943.7023636656202, + 347.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -943.7023636656202, + 344.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -943.7023636656202, + 341.36284710881733, + -1.37090769820227 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -943.7023636656202, + 338.36284710881733, + -1.37090769820227 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-12-16_916018859/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-12-16_916018859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cd059bfbd17c45247051f814f7e85953a1d0200 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-12-16_916018859/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 479.7842232595461, + 645.7953643144372, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 478.2842232595461, + 643.1972881030838, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 476.7842232595461, + 640.5992118917304, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 475.2842232595461, + 638.001135680377, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 473.7842232595461, + 635.4030594690237, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 472.2842232595461, + 632.8049832576703, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 470.7842232595461, + 630.2069070463169, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 469.2842232595461, + 627.6088308349636, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 467.7842232595461, + 625.0107546236102, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 466.2842232595461, + 622.4126784122568, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 464.7842232595461, + 619.8146022009034, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 463.2842232595461, + 617.2165259895501, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 461.7842232595461, + 614.6184497781967, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 460.2842232595461, + 612.0203735668433, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 458.7842232595461, + 609.42229735549, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 457.2842232595461, + 606.8242211441366, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 455.7842232595461, + 604.2261449327832, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 454.2842232595461, + 601.6280687214298, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 452.7842232595461, + 599.0299925100765, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 451.2842232595461, + 596.4319162987231, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 449.7842232595461, + 593.8338400873697, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 448.2842232595461, + 591.2357638760163, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 446.7842232595461, + 588.637687664663, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 445.2842232595461, + 586.0396114533096, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 443.7842232595461, + 583.4415352419562, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 442.2842232595461, + 580.8434590306028, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 440.7842232595461, + 578.2453828192495, + 1.0966054873179072 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 440.7842232595461, + 578.2453828192495, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 440.7842232595461, + 575.2453828192495, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 440.7842232595461, + 572.2453828192495, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 440.7842232595461, + 569.2453828192495, + 1.0966054873179072 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 440.7842232595461, + 566.2453828192495, + 1.0966054873179072 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-18-52_1337434154/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-18-52_1337434154/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93602a0918db202172a16defc3bbc46fb86049f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-18-52_1337434154/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -947.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -944.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -941.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -938.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -935.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -932.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -929.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -923.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -920.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -917.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -917.9899353636433, + 399.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -915.39185915229, + 401.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -912.7937829409366, + 402.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -910.1957067295832, + 404.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -907.5976305182298, + 405.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -904.9995543068765, + 407.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -902.4014780955231, + 408.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -899.8034018841697, + 410.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -897.2053256728163, + 411.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -894.607249461463, + 413.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -892.0091732501096, + 414.8531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -889.4110970387562, + 416.3531704689887, + -4.570773228955775 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -886.8130208274029, + 417.8531704689887, + -4.570773228955775 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-2-52_332238283/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-2-52_332238283/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..acfdbf778ac22fd4f1a0edb5ece73be0ee045c12 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-2-52_332238283/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -452.09526562591134, + -214.80360841670716, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -449.497189414558, + -216.30360841670716, + 2.214964709374194 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -449.497189414558, + -216.30360841670716, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -447.997189414558, + -218.90168462806048, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -446.497189414558, + -221.4997608394138, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -444.997189414558, + -224.0978370507671, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -443.497189414558, + -226.69591326212043, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -441.997189414558, + -229.29398947347374, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -440.497189414558, + -231.89206568482706, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -438.997189414558, + -234.49014189618038, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -437.497189414558, + -237.0882181075337, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -435.997189414558, + -239.686294318887, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -434.497189414558, + -242.28437053024032, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -432.997189414558, + -244.88244674159364, + 2.214964709374194 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -432.997189414558, + -244.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -430.3991132032047, + -246.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -427.8010369918514, + -247.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -425.2029607804981, + -249.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -422.60488456914476, + -250.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -420.00680835779144, + -252.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -417.4087321464381, + -253.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -414.8106559350848, + -255.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -412.2125797237315, + -256.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -409.6145035123782, + -258.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -407.01642730102486, + -259.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -404.41835108967155, + -261.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -401.82027487831823, + -262.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -399.2221986669649, + -264.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.6241224556116, + -265.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -394.0260462442583, + -267.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -391.42797003290497, + -268.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -388.82989382155165, + -270.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -386.23181761019833, + -271.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -383.633741398845, + -273.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -381.0356651874917, + -274.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -378.4375889761384, + -276.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -375.83951276478507, + -277.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -373.24143655343175, + -279.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -370.64336034207844, + -280.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -368.0452841307251, + -282.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -365.4472079193718, + -283.88244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -362.8491317080185, + -285.38244674159364, + 2.214964709374194 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -360.2510554966652, + -286.88244674159364, + 2.214964709374194 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-28_1794292538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-28_1794292538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3adcff7e1ebc982ca0f05176a306904139293d2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-28_1794292538/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -933.288168066991, + 353.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.8862442783443, + 351.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -938.4843204896977, + 350.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.082396701051, + 348.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -943.6804729124044, + 347.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.2785491237578, + 345.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -948.8766253351112, + 344.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -951.4747015464645, + 342.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -954.0727777578179, + 341.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -956.6708539691713, + 339.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -959.2689301805246, + 338.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.867006391878, + 336.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -964.4650826032314, + 335.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.0631588145848, + 333.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -969.6612350259381, + 332.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -972.2593112372915, + 330.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -974.8573874486449, + 329.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.4554636599983, + 327.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -980.0535398713516, + 326.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -982.651616082705, + 324.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -985.2496922940584, + 323.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -987.8477685054118, + 321.6542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -990.4458447167651, + 320.1542565425805, + -3.548978698182681 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -990.4458447167651, + 320.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -993.4458447167651, + 320.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -996.4458447167651, + 320.1542565425805, + -3.548978698182681 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -999.4458447167651, + 320.1542565425805, + -3.548978698182681 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-57_434290636/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-57_434290636/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f11f779b6e04084338f3612807f84e48d9b3d9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-20-57_434290636/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -928.5879163926442, + 334.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -931.1859926039974, + 332.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -933.7840688153508, + 331.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -936.3821450267042, + 329.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -938.9802212380575, + 328.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -941.5782974494109, + 326.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -944.1763736607643, + 325.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -946.7744498721177, + 323.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -949.372526083471, + 322.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -951.9706022948244, + 320.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -954.5686785061778, + 319.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -957.1667547175311, + 317.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -959.7648309288845, + 316.103949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -962.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -962.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -965.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -968.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -971.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -974.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -977.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -980.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -983.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -986.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -989.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -992.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -998.3629071402379, + 314.603949146044, + 1.017382165393471 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-31_1444311956/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-31_1444311956/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60e2a21c5013e9c4a459fea6663091a93606b43f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-21-31_1444311956/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -256.5264463130019, + -489.1160745841806, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.02644631300188, + -486.51799837282726, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -253.52644631300188, + -483.91992216147395, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -252.02644631300188, + -481.32184595012063, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -250.52644631300188, + -478.7237697387673, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -249.02644631300188, + -476.125693527414, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -247.52644631300188, + -473.5276173160607, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -246.02644631300188, + -470.92954110470737, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -244.52644631300188, + -468.33146489335405, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -243.02644631300188, + -465.73338868200074, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -241.52644631300188, + -463.1353124706474, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -240.02644631300188, + -460.5372362592941, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -238.52644631300188, + -457.9391600479408, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -237.02644631300188, + -455.3410838365875, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -235.52644631300188, + -452.74300762523416, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -234.02644631300188, + -450.14493141388084, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -232.52644631300188, + -447.5468552025275, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -231.02644631300188, + -444.9487789911742, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -229.52644631300188, + -442.3507027798209, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -228.02644631300188, + -439.7526265684676, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -226.52644631300188, + -437.15455035711426, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -225.02644631300188, + -434.55647414576094, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -223.52644631300188, + -431.9583979344076, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.02644631300188, + -429.3603217230543, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -220.52644631300188, + -426.762245511701, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -219.02644631300188, + -424.1641693003477, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -217.52644631300188, + -421.56609308899436, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -216.02644631300188, + -418.96801687764105, + 4.938333487305668 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -216.02644631300188, + -418.96801687764105, + 4.938333487305668 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -216.02644631300188, + -415.96801687764105, + 4.938333487305668 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-24-48_1994320152/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-24-48_1994320152/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..47f7d04384ac02a09f920a965087dbea78b0fe98 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-24-48_1994320152/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -452.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -449.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -446.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -443.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -440.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -437.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -434.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -431.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -428.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -425.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -422.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -419.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -416.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -416.4413716729996, + 782.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -413.8432954616463, + 781.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -411.24521925029296, + 779.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -408.64714303893965, + 778.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -406.04906682758633, + 776.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -403.450990616233, + 775.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -400.8529144048797, + 773.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -398.2548381935264, + 772.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -395.65676198217307, + 770.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -393.05868577081975, + 769.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -390.46060955946643, + 767.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -387.8625333481131, + 766.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -385.2644571367598, + 764.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -382.6663809254065, + 763.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -380.06830471405317, + 761.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -377.47022850269985, + 760.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -374.87215229134654, + 758.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -372.2740760799932, + 757.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -369.6759998686399, + 755.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -367.0779236572866, + 754.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -364.4798474459333, + 752.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -361.88177123457996, + 751.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -359.28369502322664, + 749.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -356.6856188118733, + 748.2621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -354.08754260052, + 746.7621273673547, + -1.2239756723673292 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -351.4894663891667, + 745.2621273673547, + -1.2239756723673292 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-27-18_1607774548/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-27-18_1607774548/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a01b83f1011c75d1869ff5051fdcdb47d0343bf3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-27-18_1607774548/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -370.74968004690214, + 565.5486779016949, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -372.24968004690214, + 562.9506016903415, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -373.74968004690214, + 560.3525254789881, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -375.24968004690214, + 557.7544492676348, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -376.74968004690214, + 555.1563730562814, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -378.24968004690214, + 552.558296844928, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -379.74968004690214, + 549.9602206335746, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -381.24968004690214, + 547.3621444222213, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -382.74968004690214, + 544.7640682108679, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -384.24968004690214, + 542.1659919995145, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -385.74968004690214, + 539.5679157881611, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -387.24968004690214, + 536.9698395768078, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -388.74968004690214, + 534.3717633654544, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -390.24968004690214, + 531.773687154101, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -391.74968004690214, + 529.1756109427477, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -393.24968004690214, + 526.5775347313943, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -394.74968004690214, + 523.9794585200409, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -396.24968004690214, + 521.3813823086875, + 0.5703003787173273 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -396.24968004690214, + 521.3813823086875, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -396.24968004690214, + 518.3813823086875, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -396.24968004690214, + 515.3813823086875, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.24968004690214, + 512.3813823086875, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -396.24968004690214, + 509.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -396.24968004690214, + 506.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.24968004690214, + 503.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -396.24968004690214, + 500.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -396.24968004690214, + 497.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -396.24968004690214, + 494.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -396.24968004690214, + 491.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -396.24968004690214, + 488.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -396.24968004690214, + 485.38138230868753, + 0.5703003787173273 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -396.24968004690214, + 485.38138230868753, + 0.5703003787173273 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -397.74968004690214, + 482.7833060973342, + 0.5703003787173273 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-30-20_18400960/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-30-20_18400960/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7de8b721bc970c999b5a4ab786092eb1311f14dd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-30-20_18400960/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -790.3660428544723, + 89.8113222931922, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -788.8660428544723, + 92.40939850454552, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -787.3660428544723, + 95.00747471589884, + -2.582351066709295 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -787.3660428544723, + 95.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -784.767966643119, + 96.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -782.1698904317657, + 98.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -779.5718142204123, + 99.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -776.9737380090589, + 101.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -774.3756617977056, + 102.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -771.7775855863522, + 104.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.1795093749988, + 105.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -766.5814331636454, + 107.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.9833569522921, + 108.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.3852807409387, + 110.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -758.7872045295853, + 111.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.189128318232, + 113.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -753.5910521068786, + 114.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -750.9929758955252, + 116.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.3948996841718, + 117.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.7968234728185, + 119.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -743.1987472614651, + 120.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -740.6006710501117, + 122.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -738.0025948387583, + 123.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -735.404518627405, + 125.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.8064424160516, + 126.50747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.2083662046982, + 128.00747471589884, + -2.582351066709295 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -727.6102899933448, + 129.50747471589884, + -2.582351066709295 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-32-51_817572761/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-32-51_817572761/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f11a914d0b27566ee738d2b2d96a96542c319d61 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-32-51_817572761/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 45.44366669391195, + -72.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 45.44366669391195, + -69.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 45.44366669391195, + -66.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 45.44366669391195, + -63.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 45.44366669391195, + -60.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.44366669391195, + -57.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 45.44366669391195, + -54.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 45.44366669391195, + -51.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 45.44366669391195, + -48.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 45.44366669391195, + -45.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 45.44366669391195, + -42.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 45.44366669391195, + -39.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 45.44366669391195, + -36.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 45.44366669391195, + -33.79204242756008, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 45.44366669391195, + -30.792042427560077, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 45.44366669391195, + -27.792042427560077, + -2.0975476688692343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 45.44366669391195, + -27.792042427560077, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 46.94366669391195, + -25.19396621620676, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 48.44366669391195, + -22.595890004853445, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 49.94366669391195, + -19.99781379350013, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 51.44366669391195, + -17.399737582146813, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 52.94366669391195, + -14.801661370793497, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 54.44366669391195, + -12.20358515944018, + -2.0975476688692343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 55.94366669391195, + -9.605508948086865, + -2.0975476688692343 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-5_592456289/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-5_592456289/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e115c405f424e8c187b60ba14879086e2d9d5114 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-36-5_592456289/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -11.24031459918777, + 351.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -13.838390810541085, + 352.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -16.4364670218944, + 354.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -19.034543233247717, + 355.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -21.632619444601033, + 357.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -24.23069565595435, + 358.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -26.828771867307665, + 360.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -29.42684807866098, + 361.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -32.0249242900143, + 363.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -34.62300050136761, + 364.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -37.22107671272093, + 366.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -39.819152924074245, + 367.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -42.41722913542756, + 369.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -45.01530534678088, + 370.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -47.61338155813419, + 372.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -50.21145776948751, + 373.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -52.809533980840826, + 375.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -55.40761019219414, + 376.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -58.00568640354746, + 378.13568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -60.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -60.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -63.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -66.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -69.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -72.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -75.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -78.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -81.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -84.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -87.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -90.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -93.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -96.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -99.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -102.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -105.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -108.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -111.60376261490077, + 379.63568983908954, + -2.4482023454677746 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-38-20_1172063133/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-38-20_1172063133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4908d2dc066b3fb7e07cd8393bb1053569bee57 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-38-20_1172063133/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 351.27576622414176, + 626.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 353.8738424354951, + 625.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 356.4719186468484, + 623.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 359.0699948582017, + 622.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 361.668071069555, + 620.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.26614728090834, + 619.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 366.86422349226166, + 617.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 369.462299703615, + 616.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 372.0603759149683, + 614.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 374.6584521263216, + 613.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 377.2565283376749, + 611.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 379.85460454902824, + 610.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 382.45268076038155, + 608.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 385.05075697173487, + 607.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 387.6488331830882, + 605.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 390.2469093944415, + 604.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 392.8449856057948, + 602.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 395.44306181714813, + 601.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 398.04113802850145, + 599.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 400.63921423985477, + 598.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 403.2372904512081, + 596.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 405.8353666625614, + 595.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 408.4334428739147, + 593.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 411.03151908526803, + 592.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 413.62959529662135, + 590.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 416.22767150797466, + 589.0926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 418.825747719328, + 587.5926389359518, + -1.3804548064833755 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 418.825747719328, + 587.5926389359518, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 420.325747719328, + 584.9945627245984, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 421.825747719328, + 582.396486513245, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 423.325747719328, + 579.7984103018916, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 424.825747719328, + 577.2003340905383, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 426.325747719328, + 574.6022578791849, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 427.825747719328, + 572.0041816678315, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 429.325747719328, + 569.4061054564781, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 430.825747719328, + 566.8080292451248, + -1.3804548064833755 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 432.325747719328, + 564.2099530337714, + -1.3804548064833755 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-4-57_987987334/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-4-57_987987334/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d28d195efd589ed31c60fb753002ebd777d4ed3d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-4-57_987987334/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 87.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 90.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 93.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 96.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 99.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 99.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 99.8216822929921, + -242.60143370689428, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 101.3216822929921, + -245.1995099182476, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 102.8216822929921, + -247.79758612960092, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 104.3216822929921, + -250.39566234095423, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 105.8216822929921, + -252.99373855230755, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 107.3216822929921, + -255.59181476366086, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 108.8216822929921, + -258.1898909750142, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 110.3216822929921, + -260.7879671863675, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 111.8216822929921, + -263.3860433977208, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 113.3216822929921, + -265.9841196090741, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 114.8216822929921, + -268.58219582042744, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 116.3216822929921, + -271.18027203178076, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 117.8216822929921, + -273.7783482431341, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 119.3216822929921, + -276.3764244544874, + -4.822113004305768 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 119.3216822929921, + -276.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 121.91975850434541, + -277.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 124.51783471569873, + -279.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 127.11591092705204, + -280.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 129.71398713840534, + -282.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983013 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 132.31206334975866, + -283.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 134.91013956111198, + -285.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 137.5082157724653, + -286.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 140.1062919838186, + -288.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 142.70436819517192, + -289.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 145.30244440652524, + -291.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 147.90052061787856, + -292.8764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 150.49859682923187, + -294.3764244544874, + -4.822113004305768 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 150.49859682923187, + -294.3764244544874, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 151.99859682923187, + -296.9745006658407, + -4.822113004305768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 153.49859682923187, + -299.572576877194, + -4.822113004305768 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-41-48_788380902/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-41-48_788380902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e06b25648274edad8126bce703dfbe498cf24c6d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-41-48_788380902/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -753.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -750.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -747.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -744.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -741.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -738.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -735.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -732.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -729.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -729.8918228905453, + 265.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -727.293746679192, + 263.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -724.6956704678387, + 262.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -722.0975942564853, + 260.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -719.4995180451319, + 259.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -716.9014418337786, + 257.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.3033656224252, + 256.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -711.7052894110718, + 254.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -709.1072131997184, + 253.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -706.5091369883651, + 251.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -703.9110607770117, + 250.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -701.3129845656583, + 248.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -698.714908354305, + 247.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -696.1168321429516, + 245.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -693.5187559315982, + 244.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -690.9206797202448, + 242.78348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.3226035088915, + 241.28348510917925, + 2.9550753350075922 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -685.7245272975381, + 239.78348510917925, + 2.9550753350075922 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-42-48_1077683174/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-42-48_1077683174/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d083ea1f9ec59686ac34bbd509e670cd2276353 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-42-48_1077683174/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 256.42741653071596, + -365.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 253.82934031936264, + -364.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 251.23126410800933, + -362.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 248.633187896656, + -361.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 246.0351116853027, + -359.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 243.43703547394938, + -358.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 240.83895926259606, + -356.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.24088305124275, + -355.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 235.64280683988943, + -353.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 233.04473062853612, + -352.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 230.4466544171828, + -350.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 227.84857820582948, + -349.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 225.25050199447617, + -347.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.65242578312285, + -346.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 220.05434957176954, + -344.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 217.45627336041622, + -343.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 214.8581971490629, + -341.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 212.2601209377096, + -340.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 209.66204472635627, + -338.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 207.06396851500295, + -337.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 204.46589230364964, + -335.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 201.86781609229632, + -334.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.269739880943, + -332.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 196.6716636695897, + -331.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 194.07358745823637, + -329.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 191.47551124688306, + -328.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 188.87743503552974, + -326.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 186.27935882417643, + -325.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 183.6812826128231, + -323.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 181.0832064014698, + -322.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 178.48513019011648, + -320.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 175.88705397876316, + -319.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 173.28897776740985, + -317.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 170.69090155605653, + -316.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 168.09282534470321, + -314.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 165.4947491333499, + -313.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 162.89667292199658, + -311.6894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 160.29859671064327, + -310.1894030398362, + -3.772356436768857 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 160.29859671064327, + -310.1894030398362, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 158.79859671064327, + -307.59132682848286, + -3.772356436768857 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 157.29859671064327, + -304.99325061712955, + -3.772356436768857 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-27_379366797/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-27_379366797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b3a936132894bac9123a8cc9a8f168b2df94374f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-46-27_379366797/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -679.6487736851957, + -261.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -679.6487736851957, + -258.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.6487736851957, + -255.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -679.6487736851957, + -252.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.6487736851957, + -249.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -679.6487736851957, + -246.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -679.6487736851957, + -243.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.6487736851957, + -240.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.6487736851957, + -237.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -679.6487736851957, + -234.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -679.6487736851957, + -231.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.6487736851957, + -228.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.6487736851957, + -225.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.6487736851957, + -222.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.6487736851957, + -219.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.6487736851957, + -216.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.6487736851957, + -213.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.6487736851957, + -210.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.6487736851957, + -207.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -679.6487736851957, + -204.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.6487736851957, + -201.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -679.6487736851957, + -198.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.6487736851957, + -195.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.6487736851957, + -192.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -679.6487736851957, + -189.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.6487736851957, + -186.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -679.6487736851957, + -183.1560401616003, + -3.409907210293735 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -679.6487736851957, + -183.1560401616003, + -3.409907210293735 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.6487736851957, + -183.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -677.0506974738423, + -181.6560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -674.452621262489, + -180.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -671.8545450511356, + -178.6560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -669.2564688397822, + -177.1560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -666.6583926284288, + -175.6560401616003, + -3.409907210293735 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -666.6583926284288, + -175.6560401616003, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -665.1583926284288, + -173.05796395024697, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -663.6583926284288, + -170.45988773889366, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -662.1583926284288, + -167.86181152754034, + -3.409907210293735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -660.6583926284288, + -165.26373531618702, + -3.409907210293735 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-51-56_1163384280/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-51-56_1163384280/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3943cdbf828b04130efa548ac2f7cb32e0fb3745 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-51-56_1163384280/pose.jsonl @@ -0,0 +1,599 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 10.35816779489528, + 573.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 10.35816779489528, + 576.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 10.35816779489528, + 579.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 10.35816779489528, + 582.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 10.35816779489528, + 585.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 10.35816779489528, + 588.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 10.35816779489528, + 591.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 10.35816779489528, + 594.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 10.35816779489528, + 597.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 10.35816779489528, + 600.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 10.35816779489528, + 603.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 10.35816779489528, + 606.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 10.35816779489528, + 609.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 10.35816779489528, + 612.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 10.35816779489528, + 615.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 10.35816779489528, + 618.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 10.35816779489528, + 621.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 10.35816779489528, + 624.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 10.35816779489528, + 627.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 10.35816779489528, + 630.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 10.35816779489528, + 633.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 10.35816779489528, + 636.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 10.35816779489528, + 639.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 10.35816779489528, + 642.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 10.35816779489528, + 645.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 10.35816779489528, + 648.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 10.35816779489528, + 651.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 10.35816779489528, + 654.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 10.35816779489528, + 657.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 10.35816779489528, + 660.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 10.35816779489528, + 663.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 10.35816779489528, + 666.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 10.35816779489528, + 669.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 10.35816779489528, + 672.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 10.35816779489528, + 675.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 10.35816779489528, + 678.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 10.35816779489528, + 681.6022437025684, + 3.518770327943164 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 10.35816779489528, + 681.6022437025684, + 3.518770327943164 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 10.35816779489528, + 681.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 7.760091583541964, + 683.1022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 5.162015372188648, + 684.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 2.563939160835332, + 686.1022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -0.03413705051798388, + 687.6022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -2.6322132618713, + 689.1022437025684, + 3.518770327943164 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -5.230289473224616, + 690.6022437025684, + 3.518770327943164 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-52-33_1812718902/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-52-33_1812718902/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccb64e821bb0fef0491a4e323c54bea3250959b8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-52-33_1812718902/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -624.1341399688947, + 284.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -626.7322161802481, + 282.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -629.3302923916015, + 281.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -631.9283686029548, + 279.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.5264448143082, + 278.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.1245210256616, + 276.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -639.722597237015, + 275.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.3206734483683, + 273.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -644.9187496597217, + 272.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.5168258710751, + 270.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -650.1149020824284, + 269.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -652.7129782937818, + 267.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -655.3110545051352, + 266.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -657.9091307164886, + 264.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -660.5072069278419, + 263.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -663.1052831391953, + 261.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -665.7033593505487, + 260.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -668.301435561902, + 258.9003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -670.8995117732554, + 257.4003770988568, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -673.4975879846088, + 255.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -676.0956641959622, + 254.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.6937404073155, + 252.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.2918166186689, + 251.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.8898928300223, + 249.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -686.4879690413757, + 248.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -689.086045252729, + 246.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -691.6841214640824, + 245.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -694.2821976754358, + 243.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -696.8802738867892, + 242.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -699.4783500981425, + 240.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -702.0764263094959, + 239.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -704.6745025208493, + 237.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -707.2725787322026, + 236.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -709.870654943556, + 234.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -712.4687311549094, + 233.40037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -715.0668073662628, + 231.90037709885678, + 2.62375308883846 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -715.0668073662628, + 231.90037709885678, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -716.5668073662628, + 229.30230088750346, + 2.62375308883846 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -718.0668073662628, + 226.70422467615015, + 2.62375308883846 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-55-35_597010431/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-55-35_597010431/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b2aa64773c71ade0e348601f0ce84a2a0afa0722 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-55-35_597010431/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -730.6878055995041, + -81.06893005067444, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.1878055995041, + -83.66700626202775, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -727.6878055995041, + -86.26508247338107, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -726.1878055995041, + -88.86315868473439, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -724.6878055995041, + -91.4612348960877, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -723.1878055995041, + -94.05931110744102, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -721.6878055995041, + -96.65738731879433, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -720.1878055995041, + -99.25546353014765, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -718.6878055995041, + -101.85353974150097, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.1878055995041, + -104.45161595285428, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -715.6878055995041, + -107.0496921642076, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -714.1878055995041, + -109.64776837556091, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -712.6878055995041, + -112.24584458691423, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.1878055995041, + -114.84392079826755, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -709.6878055995041, + -117.44199700962086, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.1878055995041, + -120.04007322097418, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.6878055995041, + -122.6381494323275, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -705.1878055995041, + -125.23622564368081, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -703.6878055995041, + -127.83430185503413, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.1878055995041, + -130.43237806638746, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -700.6878055995041, + -133.03045427774077, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.1878055995041, + -135.6285304890941, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.6878055995041, + -138.2266067004474, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.1878055995041, + -140.82468291180072, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.6878055995041, + -143.42275912315404, + -0.45573847042670845 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.6878055995041, + -143.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.0897293881508, + -144.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -689.4916531767974, + -146.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -686.893576965444, + -147.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -684.2955007540907, + -149.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -681.6974245427373, + -150.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -679.0993483313839, + -152.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -676.5012721200305, + -153.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -673.9031959086772, + -155.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -671.3051196973238, + -156.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -668.7070434859704, + -158.42275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -666.108967274617, + -159.92275912315404, + -0.45573847042670845 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -663.5108910632637, + -161.42275912315404, + -0.45573847042670845 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-51_1107096180/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-51_1107096180/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d8aa9b31ed79fef6f4a61ce95739ec07928b6d29 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-58-51_1107096180/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -725.3478451778433, + 323.5225692163697, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -723.8478451778433, + 320.92449300501636, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -722.3478451778433, + 318.32641679366304, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -720.8478451778433, + 315.7283405823097, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -719.3478451778433, + 313.1302643709564, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -717.8478451778433, + 310.5321881596031, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.3478451778433, + 307.9341119482498, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.8478451778433, + 305.33603573689646, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -713.3478451778433, + 302.73795952554315, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -711.8478451778433, + 300.13988331418983, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -710.3478451778433, + 297.5418071028365, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.8478451778433, + 294.9437308914832, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -707.3478451778433, + 292.3456546801299, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.8478451778433, + 289.74757846877657, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -704.3478451778433, + 287.14950225742325, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -702.8478451778433, + 284.55142604606993, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -701.3478451778433, + 281.9533498347166, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -699.8478451778433, + 279.3552736233633, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -698.3478451778433, + 276.75719741201, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -696.8478451778433, + 274.15912120065667, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -695.3478451778433, + 271.56104498930335, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -693.8478451778433, + 268.96296877795004, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -692.3478451778433, + 266.3648925665967, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -690.8478451778433, + 263.7668163552434, + -2.023529104866435 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -689.3478451778433, + 261.1687401438901, + -2.023529104866435 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-48_1855843024/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-48_1855843024/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ccf4c56194de923b6a8b9425d8bcd00806347972 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-48_1855843024/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 285.8226549409811, + -149.75846996602075, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 287.3226549409811, + -147.16039375466744, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 288.8226549409811, + -144.56231754331412, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 290.3226549409811, + -141.9642413319608, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 291.8226549409811, + -139.3661651206075, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 293.3226549409811, + -136.76808890925417, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 294.8226549409811, + -134.17001269790086, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 296.3226549409811, + -131.57193648654754, + 2.0789116030532124 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 296.3226549409811, + -131.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 298.92073115233444, + -130.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 301.51880736368776, + -128.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 304.1168835750411, + -127.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 306.7149597863944, + -125.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 309.3130359977477, + -124.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 311.911112209101, + -122.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 314.50918842045434, + -121.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 317.10726463180765, + -119.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 319.70534084316097, + -118.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 322.3034170545143, + -116.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 324.9014932658676, + -115.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 327.4995694772209, + -113.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 330.09764568857423, + -112.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 332.69572189992755, + -110.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 335.29379811128086, + -109.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 337.8918743226342, + -107.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 340.4899505339875, + -106.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 343.0880267453408, + -104.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 345.6861029566941, + -103.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 348.28417916804744, + -101.57193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 350.88225537940076, + -100.07193648654754, + 2.0789116030532124 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 350.88225537940076, + -100.07193648654754, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 352.38225537940076, + -97.47386027519423, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 353.88225537940076, + -94.87578406384091, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 355.38225537940076, + -92.2777078524876, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 356.88225537940076, + -89.67963164113428, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 358.38225537940076, + -87.08155542978096, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 359.88225537940076, + -84.48347921842765, + 2.0789116030532124 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 361.38225537940076, + -81.88540300707433, + 2.0789116030532124 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-5_692458743/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-5_692458743/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d23ac01d94939c8bc28e1ef7844192774ed2e55 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_21-59-5_692458743/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -197.83624039846788, + -441.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -200.4343166098212, + -442.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -203.0323928211745, + -444.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -205.63046903252783, + -445.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -208.22854524388114, + -447.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -210.82662145523446, + -448.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -213.42469766658778, + -450.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -216.0227738779411, + -451.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -218.6208500892944, + -453.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -221.21892630064772, + -454.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.81700251200104, + -456.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -226.41507872335436, + -457.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -229.01315493470767, + -459.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -231.611231146061, + -460.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -234.2093073574143, + -462.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -236.80738356876762, + -463.9275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -239.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -239.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -242.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -245.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -248.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -251.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -254.40545978012094, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -257.40545978012096, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -260.40545978012096, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -263.40545978012096, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -266.40545978012096, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -269.40545978012096, + -465.4275548149302, + -0.04936590558100207 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-1-59_1690492373/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-1-59_1690492373/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44fc92fe24a8fcf3fb2ec58205f1fd79b349e4a2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-1-59_1690492373/pose.jsonl @@ -0,0 +1,144 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -958.769300945899, + 402.5600520909141, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -960.269300945899, + 399.9619758795608, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -961.769300945899, + 397.36389966820747, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -963.269300945899, + 394.76582345685415, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -964.769300945899, + 392.16774724550083, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -966.269300945899, + 389.5696710341475, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -967.769300945899, + 386.9715948227942, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -969.269300945899, + 384.3735186114409, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -970.769300945899, + 381.77544240008757, + 1.168103844349063 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -972.269300945899, + 379.17736618873425, + 1.168103844349063 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-13-42_2107654819/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-13-42_2107654819/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28b2d44ef694b22dacdb9a3050935ad83ee1229e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-13-42_2107654819/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -341.5278535579348, + -192.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -344.1259297692881, + -190.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -346.72400598064144, + -189.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -349.32208219199475, + -187.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -351.92015840334807, + -186.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -354.5182346147014, + -184.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -357.1163108260547, + -183.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -359.714387037408, + -181.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -362.31246324876133, + -180.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -364.91053946011465, + -178.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -367.50861567146796, + -177.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -370.1066918828213, + -175.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -372.7047680941746, + -174.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -375.3028443055279, + -172.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -377.90092051688123, + -171.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -380.49899672823454, + -169.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -383.09707293958786, + -168.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -385.6951491509412, + -166.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -388.2932253622945, + -165.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.8913015736478, + -163.7806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -393.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -393.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -396.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -399.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -402.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -405.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -408.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -411.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -414.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -417.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -420.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -423.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -426.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -429.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -432.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -435.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -438.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -441.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -444.4893777850011, + -162.2806327993669, + -3.776788297046009 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-20_332702450/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-20_332702450/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34c3914b2f664920958a89195feec6aa7c73de29 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-20_332702450/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -809.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -812.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -815.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -818.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -821.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -824.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -827.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -830.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -833.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -836.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -839.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -842.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -845.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -848.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -851.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -854.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -857.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -860.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -863.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -866.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -869.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -869.1522981870175, + 424.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -871.7503743983709, + 423.12433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -874.3484506097243, + 421.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -876.9465268210777, + 420.12433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -879.544603032431, + 418.62433668193125, + 0.3053194057023356 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -882.1426792437844, + 417.12433668193125, + 0.3053194057023356 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-52_67974802/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-52_67974802/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..777b30ab54dcab114a2090ffe5db1fe82b6a9fb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-15-52_67974802/pose.jsonl @@ -0,0 +1,79 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 485.92920744352745, + 426.3564669048784, + 0.3886966088626167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 488.92920744352745, + 426.3564669048784, + 0.3886966088626167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 491.92920744352745, + 426.3564669048784, + 0.3886966088626167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 494.92920744352745, + 426.3564669048784, + 0.3886966088626167 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 497.92920744352745, + 426.3564669048784, + 0.3886966088626167 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-0_573556837/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-0_573556837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d3a729edd9cedbc52e6b55390fbf7088136d5362 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-16-0_573556837/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -597.4984058281808, + 106.56962902360891, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -598.9984058281808, + 103.9715528122556, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -600.4984058281808, + 101.37347660090228, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -601.9984058281808, + 98.77540038954896, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -603.4984058281808, + 96.17732417819565, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -604.9984058281808, + 93.57924796684233, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -606.4984058281808, + 90.98117175548902, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -607.9984058281808, + 88.3830955441357, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -609.4984058281808, + 85.78501933278238, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -610.9984058281808, + 83.18694312142907, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -612.4984058281808, + 80.58886691007575, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -613.9984058281808, + 77.99079069872244, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -615.4984058281808, + 75.39271448736912, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -616.9984058281808, + 72.7946382760158, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -618.4984058281808, + 70.19656206466249, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.9984058281808, + 67.59848585330917, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -621.4984058281808, + 65.00040964195586, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -622.9984058281808, + 62.40233343060254, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -624.4984058281808, + 59.80425721924922, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -625.9984058281808, + 57.20618100789591, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -627.4984058281808, + 54.60810479654259, + -3.878534394746522 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -628.9984058281808, + 52.010028585189275, + -3.878534394746522 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-13_1651574882/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-13_1651574882/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5544e28a23fd1d04c10b979841296746c56434d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-22-13_1651574882/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 393.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 396.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 402.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 405.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 411.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 414.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 417.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 420.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 420.68124637776106, + 53.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 423.2793225891144, + 52.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 425.8773988004677, + 50.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.475475011821, + 49.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 431.0735512231743, + 47.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 433.67162743452764, + 46.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 436.26970364588095, + 44.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 438.86777985723427, + 43.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.4658560685876, + 41.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 444.0639322799409, + 40.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 446.6620084912942, + 38.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 449.26008470264753, + 37.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 451.85816091400085, + 35.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 454.45623712535416, + 34.37726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 457.0543133367075, + 32.87726787195125, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 459.6523895480608, + 31.377267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 462.2504657594141, + 29.877267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 464.8485419707674, + 28.377267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 467.44661818212074, + 26.877267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 470.04469439347406, + 25.377267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 472.6427706048274, + 23.877267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 475.2408468161807, + 22.377267871951247, + 2.05459190265464 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 477.838923027534, + 20.877267871951247, + 2.05459190265464 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-35-39_1805613091/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-35-39_1805613091/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e2bc198510c214cf4fd6d57fe4a53339ac33917d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-35-39_1805613091/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -660.5456532604974, + 194.33668237693848, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -662.0456532604974, + 196.9347585882918, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -663.5456532604974, + 199.53283479964512, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -665.0456532604974, + 202.13091101099843, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -666.5456532604974, + 204.72898722235175, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -668.0456532604974, + 207.32706343370506, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.5456532604974, + 209.92513964505838, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -671.0456532604974, + 212.5232158564117, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -672.5456532604974, + 215.121292067765, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -674.0456532604974, + 217.71936827911833, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -675.5456532604974, + 220.31744449047164, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.0456532604974, + 222.91552070182496, + 3.30048261444537 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -677.0456532604974, + 222.91552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.6437294718507, + 224.41552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.2418056832041, + 225.91552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -684.8398818945575, + 227.41552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -687.4379581059109, + 228.91552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -690.0360343172642, + 230.41552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -692.6341105286176, + 231.91552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -695.232186739971, + 233.41552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -697.8302629513244, + 234.91552070182496, + 3.30048261444537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.4283391626777, + 236.41552070182496, + 3.30048261444537 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-40-12_535286141/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-40-12_535286141/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d8df4de70bceb39b829fb5976a84f8143a02733 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-40-12_535286141/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -13.118292869077962, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -10.118292869077962, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -7.118292869077962, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -4.118292869077962, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -1.1182928690779619, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 1.8817071309220381, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 4.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 7.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 10.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 13.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 16.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 19.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 22.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 25.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 28.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 31.881707130922038, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 34.88170713092204, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 37.88170713092204, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 40.88170713092204, + 8.254812770203996, + 2.524938140089507 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 40.88170713092204, + 8.254812770203996, + 2.524938140089507 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 40.88170713092204, + 8.254812770203996, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 42.38170713092204, + 5.65673655885068, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 43.88170713092204, + 3.058660347497364, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 45.38170713092204, + 0.4605841361440479, + 2.524938140089507 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 45.38170713092204, + 0.4605841361440479, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 47.979783342275354, + -1.0394158638559519, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 50.57785955362867, + -2.5394158638559516, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 53.175935764981986, + -4.039415863855951, + 2.524938140089507 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 55.7740119763353, + -5.539415863855951, + 2.524938140089507 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982987 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-44-7_1650994571/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-44-7_1650994571/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..75d25bb934a1c549cfbf363593ce376f06df86dc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-44-7_1650994571/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -407.89421613735783, + -63.895080753907294, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -405.2961399260045, + -65.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -402.6980637146512, + -66.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -400.0999875032979, + -68.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -397.50191129194457, + -69.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -394.90383508059125, + -71.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -392.30575886923793, + -72.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -389.7076826578846, + -74.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -387.1096064465313, + -75.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -384.511530235178, + -77.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -381.91345402382467, + -78.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -379.31537781247135, + -80.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -376.71730160111804, + -81.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -374.1192253897647, + -83.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -371.5211491784114, + -84.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -368.9230729670581, + -86.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -366.3249967557048, + -87.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -363.72692054435146, + -89.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -361.12884433299814, + -90.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -358.5307681216448, + -92.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -355.9326919102915, + -93.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -353.3346156989382, + -95.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -350.7365394875849, + -96.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -348.13846327623156, + -98.3950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -345.54038706487825, + -99.8950807539073, + 0.34100688500802434 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -345.54038706487825, + -99.8950807539073, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -344.04038706487825, + -102.49315696526061, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -342.54038706487825, + -105.09123317661393, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -341.04038706487825, + -107.68930938796724, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -339.54038706487825, + -110.28738559932056, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -338.04038706487825, + -112.88546181067387, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -336.54038706487825, + -115.48353802202719, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -335.04038706487825, + -118.0816142333805, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -333.54038706487825, + -120.67969044473382, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -332.04038706487825, + -123.27776665608714, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -330.54038706487825, + -125.87584286744045, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -329.04038706487825, + -128.47391907879376, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965954 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -327.54038706487825, + -131.07199529014707, + 0.34100688500802434 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -326.04038706487825, + -133.6700715015004, + 0.34100688500802434 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-57-6_1608959295/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-57-6_1608959295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7911ef8b71b00440833cc8fd7cd237cb1e6424cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-57-6_1608959295/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 244.77889763868276, + -224.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 242.18082142732945, + -225.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 239.58274521597613, + -227.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 236.98466900462282, + -228.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 234.3865927932695, + -230.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 231.78851658191618, + -231.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 229.19044037056287, + -233.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 226.59236415920955, + -234.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 223.99428794785624, + -236.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 221.39621173650292, + -237.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 218.7981355251496, + -239.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 216.2000593137963, + -240.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 213.60198310244297, + -242.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 211.00390689108966, + -243.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 208.40583067973634, + -245.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 205.80775446838302, + -246.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 203.2096782570297, + -248.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 200.6116020456764, + -249.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 198.01352583432308, + -251.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 195.41544962296976, + -252.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 192.81737341161644, + -254.09119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 190.21929720026313, + -255.59119635739935, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 187.6212209889098, + -257.0911963573993, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 185.0231447775565, + -258.5911963573993, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 182.42506856620318, + -260.0911963573993, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 179.82699235484986, + -261.5911963573993, + 3.927181256026536 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 179.82699235484986, + -261.5911963573993, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 178.32699235484986, + -264.18927256875264, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 176.82699235484986, + -266.78734878010596, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 175.32699235484986, + -269.3854249914593, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 173.82699235484986, + -271.9835012028126, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 172.32699235484986, + -274.5815774141659, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 170.82699235484986, + -277.1796536255192, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 169.32699235484986, + -279.77772983687254, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 167.82699235484986, + -282.37580604822585, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 166.32699235484986, + -284.97388225957917, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 164.82699235484986, + -287.5719584709325, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 163.32699235484986, + -290.1700346822858, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 161.82699235484986, + -292.7681108936391, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 160.32699235484986, + -295.36618710499243, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 158.82699235484986, + -297.96426331634575, + 3.927181256026536 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 157.32699235484986, + -300.56233952769907, + 3.927181256026536 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-6-55_625843881/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-6-55_625843881/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d47f8341d3c0fef24b52632443db64342c3e0c44 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-6-55_625843881/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -827.6997906194375, + 232.60843766650174, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -826.1997906194375, + 230.01036145514843, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -824.6997906194375, + 227.4122852437951, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -823.1997906194375, + 224.8142090324418, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -821.6997906194375, + 222.21613282108848, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -820.1997906194375, + 219.61805660973516, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -818.6997906194375, + 217.01998039838185, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -817.1997906194375, + 214.42190418702853, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -815.6997906194375, + 211.82382797567521, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -814.1997906194375, + 209.2257517643219, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -812.6997906194375, + 206.62767555296858, + -4.281583130642829 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -812.6997906194375, + 206.62767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -810.1017144080843, + 205.12767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.5036381967309, + 203.62767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -804.9055619853775, + 202.12767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -802.3074857740241, + 200.62767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -799.7094095626708, + 199.12767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -797.1113333513174, + 197.62767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -794.513257139964, + 196.12767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -791.9151809286107, + 194.62767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -789.3171047172573, + 193.12767555296858, + -4.281583130642829 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -789.3171047172573, + 193.12767555296858, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -787.8171047172573, + 190.52959934161527, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -786.3171047172573, + 187.93152313026195, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -784.8171047172573, + 185.33344691890863, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.3171047172573, + 182.73537070755532, + -4.281583130642829 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -781.8171047172573, + 180.137294496202, + -4.281583130642829 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-45_67874133/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-45_67874133/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bb4581c891701bc71a3020b6dd44c14253dedd2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-7-45_67874133/pose.jsonl @@ -0,0 +1,118 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -925.0748639844552, + 391.3982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -927.6729401958085, + 389.8982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -930.2710164071618, + 388.3982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -932.8690926185152, + 386.8982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -935.4671688298686, + 385.3982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -938.0652450412219, + 383.8982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -940.6633212525753, + 382.3982268862612, + -0.857782444011673 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -943.2613974639287, + 380.8982268862612, + -0.857782444011673 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-9-42_1549495354/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-9-42_1549495354/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..92e88ec55cbcbf479c4b98df9831009cf2ccabf5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_22-9-42_1549495354/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -679.9511466844423, + -3.8428870259589445, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -679.9511466844423, + -0.8428870259589445, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -679.9511466844423, + 2.1571129740410555, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -679.9511466844423, + 5.1571129740410555, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -679.9511466844423, + 8.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -679.9511466844423, + 11.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -679.9511466844423, + 14.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.9511466844423, + 17.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -679.9511466844423, + 20.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -679.9511466844423, + 23.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -679.9511466844423, + 26.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -679.9511466844423, + 29.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -679.9511466844423, + 32.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.9511466844423, + 35.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.9511466844423, + 38.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.9511466844423, + 41.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.9511466844423, + 44.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.9511466844423, + 47.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.9511466844423, + 50.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -679.9511466844423, + 53.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.9511466844423, + 56.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -679.9511466844423, + 59.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.9511466844423, + 62.157112974041056, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -679.9511466844423, + 65.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -679.9511466844423, + 68.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -679.9511466844423, + 71.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -679.9511466844423, + 74.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -679.9511466844423, + 77.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -679.9511466844423, + 80.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -679.9511466844423, + 83.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -679.9511466844423, + 86.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -679.9511466844423, + 89.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -679.9511466844423, + 92.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -679.9511466844423, + 95.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -679.9511466844423, + 98.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -679.9511466844423, + 101.15711297404106, + 2.535447931662005 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -679.9511466844423, + 101.15711297404106, + 2.535447931662005 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -681.4511466844423, + 103.75518918539437, + 2.535447931662005 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-1-7_1702022939/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-1-7_1702022939/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7dacea18683e81e0b9cd6ada39998d2ae10e09fc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-1-7_1702022939/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -380.63946785331456, + -364.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -378.04139164196124, + -366.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -375.4433154306079, + -367.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -372.8452392192546, + -369.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -370.2471630079013, + -370.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -367.649086796548, + -372.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -365.05101058519466, + -373.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -362.45293437384134, + -375.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -359.85485816248803, + -376.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -357.2567819511347, + -378.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -354.6587057397814, + -379.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -352.0606295284281, + -381.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -349.46255331707476, + -382.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -346.86447710572145, + -384.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -344.26640089436813, + -385.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -341.6683246830148, + -387.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -339.0702484716615, + -388.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.4721722603082, + -390.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.87409604895487, + -391.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -331.27601983760155, + -393.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -328.67794362624824, + -394.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -326.0798674148949, + -396.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -323.4817912035416, + -397.56360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -320.8837149921883, + -399.06360998346435, + -2.3616903799447133 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -320.8837149921883, + -399.06360998346435, + -2.3616903799447133 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -320.8837149921883, + -399.06360998346435, + -2.3616903799447133 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -320.8837149921883, + -402.06360998346435, + -2.3616903799447133 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-15-59_1616916066/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-15-59_1616916066/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..120d38764e84902385420a5a64d173e99c8f8535 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-15-59_1616916066/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -810.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -807.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -804.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -801.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -798.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -795.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -792.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -789.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -786.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -783.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -780.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -777.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -774.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -771.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -768.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -765.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -762.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -759.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -756.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -753.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -750.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -747.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -744.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -741.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -738.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -735.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -732.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -729.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -726.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -723.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -720.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -717.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -717.8369546833258, + 248.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -715.2388784719724, + 246.66095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -712.640802260619, + 245.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -710.0427260492656, + 243.66095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -707.4446498379123, + 242.16095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -704.8465736265589, + 240.66095970595563, + -2.4338275540132144 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -702.2484974152055, + 239.16095970595563, + -2.4338275540132144 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-16-33_219994425/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-16-33_219994425/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..077d66416ac5543cf2434c2503b536f2e751d2f9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-16-33_219994425/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -504.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -501.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -498.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -495.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -492.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -489.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -486.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -483.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -480.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -477.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -474.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -471.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -471.6022789616902, + -149.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -469.0042027503369, + -150.97586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -466.4061265389836, + -152.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -463.80805032763027, + -153.97586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -461.20997411627695, + -155.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -458.61189790492364, + -156.97586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -456.0138216935703, + -158.47586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -453.415745482217, + -159.97586407225856, + 1.9910616108086003 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -453.415745482217, + -159.97586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -450.415745482217, + -159.97586407225856, + 1.9910616108086003 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -447.415745482217, + -159.97586407225856, + 1.9910616108086003 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-19-34_1268409912/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-19-34_1268409912/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3ca9171087527d05b9e86ada96c79c72eac96a9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-19-34_1268409912/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -685.1011912520231, + 359.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -685.1011912520231, + 356.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -685.1011912520231, + 353.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -685.1011912520231, + 350.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -685.1011912520231, + 347.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -685.1011912520231, + 344.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -685.1011912520231, + 341.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -685.1011912520231, + 338.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -685.1011912520231, + 335.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -685.1011912520231, + 332.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -685.1011912520231, + 329.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -685.1011912520231, + 326.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -685.1011912520231, + 323.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -685.1011912520231, + 320.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -685.1011912520231, + 317.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -685.1011912520231, + 314.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -685.1011912520231, + 311.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -685.1011912520231, + 308.6025080283638, + 4.7229495098442715 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.1011912520231, + 308.6025080283638, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -683.6011912520231, + 306.00443181701047, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.1011912520231, + 303.40635560565715, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -680.6011912520231, + 300.80827939430384, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.1011912520231, + 298.2102031829505, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.6011912520231, + 295.6121269715972, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.1011912520231, + 293.0140507602439, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -674.6011912520231, + 290.4159745488906, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.1011912520231, + 287.81789833753726, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.6011912520231, + 285.21982212618394, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.1011912520231, + 282.6217459148306, + 4.7229495098442715 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -668.6011912520231, + 280.0236697034773, + 4.7229495098442715 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-2-47_1142930164/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-2-47_1142930164/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72eccba854cbc62e6201553ce49e76d0f84f5ec6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-2-47_1142930164/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -172.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -175.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -178.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -181.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -184.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -187.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -190.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -193.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -196.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -199.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -205.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -208.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -211.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -211.5934831703684, + -27.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -214.1915593817217, + -26.129342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -216.78963559307502, + -24.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -219.38771180442833, + -23.129342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -221.98578801578165, + -21.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -224.58386422713497, + -20.129342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -227.18194043848828, + -18.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -229.7800166498416, + -17.129342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -232.37809286119492, + -15.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -234.97616907254823, + -14.129342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.57424528390155, + -12.629342959618295, + -4.469484904468682 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -240.17232149525486, + -11.129342959618295, + -4.469484904468682 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-21_1702943003/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-21_1702943003/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..849db0e94b2e7ad7b1050714da17d02fdf9b5869 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-21-21_1702943003/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -71.41436131295974, + -427.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -74.01243752431306, + -428.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.61051373566637, + -430.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -79.20858994701969, + -431.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.806666158373, + -433.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.40474236972632, + -434.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -87.00281858107964, + -436.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -89.60089479243295, + -437.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.19897100378627, + -439.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -94.79704721513959, + -440.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -97.3951234264929, + -442.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -99.99319963784622, + -443.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.59127584919953, + -445.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -105.18935206055285, + -446.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -107.78742827190617, + -448.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -110.38550448325948, + -449.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -112.9835806946128, + -451.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -115.58165690596611, + -452.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -118.17973311731943, + -454.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -120.77780932867275, + -455.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.37588554002606, + -457.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -125.97396175137938, + -458.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.57203796273268, + -460.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991492 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.170114174086, + -461.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -133.7681903854393, + -463.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -136.36626659679263, + -464.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -138.96434280814594, + -466.37942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -141.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -141.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -144.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -147.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -150.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -153.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -156.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -159.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -162.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -165.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -168.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -171.56241901949926, + -467.87942280243, + -0.5758512474950575 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-25-17_1073781763/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-25-17_1073781763/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d574018919b2c1612ffd9cca1e8208c080654b95 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-25-17_1073781763/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 433.19897240639756, + 88.82816071208393, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 434.69897240639756, + 86.23008450073061, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 436.19897240639756, + 83.6320082893773, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.69897240639756, + 81.03393207802398, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 439.19897240639756, + 78.43585586667066, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 440.69897240639756, + 75.83777965531735, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 442.19897240639756, + 73.23970344396403, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 443.69897240639756, + 70.64162723261072, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 445.19897240639756, + 68.0435510212574, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 446.69897240639756, + 65.44547480990408, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 448.19897240639756, + 62.84739859855077, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 449.69897240639756, + 60.24932238719745, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 451.19897240639756, + 57.651246175844136, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 452.69897240639756, + 55.05316996449082, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 454.19897240639756, + 52.455093753137504, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 455.69897240639756, + 49.85701754178419, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 457.19897240639756, + 47.25894133043087, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 458.69897240639756, + 44.660865119077556, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 460.19897240639756, + 42.06278890772424, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 461.69897240639756, + 39.464712696370924, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 463.19897240639756, + 36.86663648501761, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 464.69897240639756, + 34.26856027366429, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 466.19897240639756, + 31.670484062310976, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 467.69897240639756, + 29.07240785095766, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 469.19897240639756, + 26.474331639604344, + -3.2402887479259768 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 469.19897240639756, + 26.474331639604344, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 471.7970486177509, + 24.974331639604344, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 474.3951248291042, + 23.474331639604344, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 476.9932010404575, + 21.974331639604344, + -3.2402887479259768 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 479.5912772518108, + 20.474331639604344, + -3.2402887479259768 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-36-28_1408960629/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-36-28_1408960629/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b67d6f9f740177dfb90b52a1038d65e3660acacd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-36-28_1408960629/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -477.7875177584346, + 276.9629556149565, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -479.2875177584346, + 274.3648794036032, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -480.7875177584346, + 271.7668031922499, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -482.2875177584346, + 269.16872698089657, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -483.7875177584346, + 266.57065076954325, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -485.2875177584346, + 263.97257455818993, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -486.7875177584346, + 261.3744983468366, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -488.2875177584346, + 258.7764221354833, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -489.7875177584346, + 256.17834592413, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -491.2875177584346, + 253.58026971277667, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -492.7875177584346, + 250.98219350142335, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -494.2875177584346, + 248.38411729007004, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -495.7875177584346, + 245.78604107871672, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -497.2875177584346, + 243.1879648673634, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -498.7875177584346, + 240.5898886560101, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -500.2875177584346, + 237.99181244465677, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -501.7875177584346, + 235.39373623330346, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -503.2875177584346, + 232.79566002195014, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -504.7875177584346, + 230.19758381059683, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -506.2875177584346, + 227.5995075992435, + -3.250223015599684 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -506.2875177584346, + 227.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -508.8855939697879, + 226.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -511.48367018114124, + 224.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -514.0817463924946, + 223.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -516.6798226038479, + 221.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -519.2778988152013, + 220.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -521.8759750265547, + 218.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -524.474051237908, + 217.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -527.0721274492614, + 215.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -529.6702036606148, + 214.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -532.2682798719682, + 212.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -534.8663560833215, + 211.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -537.4644322946749, + 209.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -540.0625085060283, + 208.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -542.6605847173817, + 206.5995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -545.258660928735, + 205.0995075992435, + -3.250223015599684 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -547.8567371400884, + 203.5995075992435, + -3.250223015599684 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-4-55_1316953165/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-4-55_1316953165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23176555d6068c651fdacbae39559ec8d3cd44b0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-4-55_1316953165/pose.jsonl @@ -0,0 +1,261 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -905.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -908.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -911.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -914.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -917.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -920.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -923.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -929.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -932.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -935.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -938.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -941.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -944.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -947.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -950.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -953.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -956.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -959.211971320007, + 355.60999583031287, + 4.5097567382041035 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-42-47_1098193842/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-42-47_1098193842/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a67bf0d9cb59c16269b26d84dff3b8cbc695983 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-42-47_1098193842/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -678.5485875389879, + 230.064185324817, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -680.0485875389879, + 227.4661091134637, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -681.5485875389879, + 224.86803290211037, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -683.0485875389879, + 222.26995669075706, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -684.5485875389879, + 219.67188047940374, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -686.0485875389879, + 217.07380426805042, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -687.5485875389879, + 214.4757280566971, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -689.0485875389879, + 211.8776518453438, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -690.5485875389879, + 209.27957563399048, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -692.0485875389879, + 206.68149942263716, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -693.5485875389879, + 204.08342321128384, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -695.0485875389879, + 201.48534699993053, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -696.5485875389879, + 198.8872707885772, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -698.0485875389879, + 196.2891945772239, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -699.5485875389879, + 193.69111836587058, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -701.0485875389879, + 191.09304215451726, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -702.5485875389879, + 188.49496594316395, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -704.0485875389879, + 185.89688973181063, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.5485875389879, + 183.29881352045732, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -707.0485875389879, + 180.700737309104, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.5485875389879, + 178.10266109775068, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.0485875389879, + 175.50458488639737, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -711.5485875389879, + 172.90650867504405, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -713.0485875389879, + 170.30843246369074, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -714.5485875389879, + 167.71035625233742, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -716.0485875389879, + 165.1122800409841, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -717.5485875389879, + 162.5142038296308, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.0485875389879, + 159.91612761827747, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -720.5485875389879, + 157.31805140692416, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.0485875389879, + 154.71997519557084, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -723.5485875389879, + 152.12189898421752, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -725.0485875389879, + 149.5238227728642, + 2.9187315147451773 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -725.0485875389879, + 149.5238227728642, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -725.0485875389879, + 146.5238227728642, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -725.0485875389879, + 143.5238227728642, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -725.0485875389879, + 140.5238227728642, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -725.0485875389879, + 137.5238227728642, + 2.9187315147451773 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -725.0485875389879, + 134.5238227728642, + 2.9187315147451773 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-5-7_1551291986/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-5-7_1551291986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6f935b5af4ef7f88492deff0c5a16bda3a80496 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-5-7_1551291986/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -687.0401673076299, + 291.04418847780545, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -688.5401673076299, + 288.44611226645213, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -690.0401673076299, + 285.8480360550988, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -691.5401673076299, + 283.2499598437455, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -693.0401673076299, + 280.6518836323922, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.5401673076299, + 278.05380742103887, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -696.0401673076299, + 275.45573120968555, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -697.5401673076299, + 272.85765499833224, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -699.0401673076299, + 270.2595787869789, + 2.399842287508953 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -699.0401673076299, + 270.2595787869789, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -699.0401673076299, + 267.2595787869789, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -699.0401673076299, + 264.2595787869789, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -699.0401673076299, + 261.2595787869789, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.0401673076299, + 258.2595787869789, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -699.0401673076299, + 255.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.0401673076299, + 252.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -699.0401673076299, + 249.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -699.0401673076299, + 246.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -699.0401673076299, + 243.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.0401673076299, + 240.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.0401673076299, + 237.25957878697892, + 2.399842287508953 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.0401673076299, + 234.25957878697892, + 2.399842287508953 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.839137878418, + 232.52609245300292, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-52-28_2044554163/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-52-28_2044554163/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce3064ed3853a22f5c97586d046bd0201bec2db9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-52-28_2044554163/pose.jsonl @@ -0,0 +1,66 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -994.2850538817496, + 252.44208246770893, + -0.5303902835826166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -995.7850538817496, + 255.04015867906224, + -0.5303902835826166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -997.2850538817496, + 257.63823489041556, + -0.5303902835826166 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -998.7850538817496, + 260.2363111017689, + -0.5303902835826166 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-7-34_107939561/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-7-34_107939561/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..256889b50435dd59e5a40ad4c6c684d51adfa6fc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-3_23-7-34_107939561/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -279.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -285.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -288.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -291.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -294.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -297.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -300.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -303.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -306.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -309.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -312.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -315.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -318.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -321.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -324.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -327.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -330.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -333.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -336.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -339.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -342.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -342.520626151923, + -368.77502805890816, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -344.020626151923, + -371.3731042702615, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -345.520626151923, + -373.9711804816148, + 1.7255081468282025 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -347.020626151923, + -376.5692566929681, + 1.7255081468282025 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-0-3_322334813/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-0-3_322334813/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..581283d085fd8c2bf160a458ec65e996c57023db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-0-3_322334813/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -805.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -802.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -799.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -796.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -793.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -790.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -787.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -784.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -781.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -778.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -775.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -772.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -769.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -763.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -760.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -757.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -751.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -745.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -742.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -739.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -736.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -733.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.3858708582062, + 131.86143526329238, + -0.7749081045096995 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-11-45_65785292/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-11-45_65785292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1bb2272dbe772a5f017ebc6cc40728ca60fc7daf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-11-45_65785292/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -648.2892221456268, + -27.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -648.2892221456268, + -24.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -648.2892221456268, + -21.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -648.2892221456268, + -18.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -648.2892221456268, + -15.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -648.2892221456268, + -12.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -648.2892221456268, + -9.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -648.2892221456268, + -6.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -648.2892221456268, + -3.133551196354105, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -648.2892221456268, + -0.13355119635410517, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.2892221456268, + 2.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -648.2892221456268, + 5.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -648.2892221456268, + 8.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -648.2892221456268, + 11.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -648.2892221456268, + 14.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -648.2892221456268, + 17.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -648.2892221456268, + 20.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -648.2892221456268, + 23.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -648.2892221456268, + 26.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -648.2892221456268, + 29.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -648.2892221456268, + 32.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -648.2892221456268, + 35.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -648.2892221456268, + 38.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.2892221456268, + 41.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -648.2892221456268, + 44.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -648.2892221456268, + 47.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -648.2892221456268, + 50.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -648.2892221456268, + 53.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -648.2892221456268, + 56.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -648.2892221456268, + 59.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -648.2892221456268, + 62.866448803645895, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -648.2892221456268, + 65.8664488036459, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -648.2892221456268, + 68.8664488036459, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -648.2892221456268, + 71.8664488036459, + 4.931724860216949 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -648.2892221456268, + 71.8664488036459, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -649.7892221456268, + 74.46452501499921, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -651.2892221456268, + 77.06260122635253, + 4.931724860216949 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -652.7892221456268, + 79.66067743770584, + 4.931724860216949 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-19-40_258219170/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-19-40_258219170/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f28ee52243ad62b57ffff02a0790ea7a55b3ebd3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-19-40_258219170/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -759.265145050596, + 282.0866341405029, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -757.765145050596, + 279.4885579291496, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -756.265145050596, + 276.89048171779626, + 0.8652909374964555 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -756.265145050596, + 276.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -753.6670688392426, + 275.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -751.0689926278892, + 273.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.4709164165358, + 272.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.8728402051825, + 270.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -743.2747639938291, + 269.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -740.6766877824757, + 267.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -738.0786115711223, + 266.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -735.480535359769, + 264.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -732.8824591484156, + 263.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -730.2843829370622, + 261.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -727.6863067257088, + 260.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -725.0882305143555, + 258.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -722.4901543030021, + 257.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -719.8920780916487, + 255.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -717.2940018802954, + 254.39048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.695925668942, + 252.89048171779626, + 0.8652909374964555 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -714.695925668942, + 252.89048171779626, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -713.195925668942, + 250.29240550644295, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -711.695925668942, + 247.69432929508963, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -710.195925668942, + 245.09625308373631, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -708.695925668942, + 242.498176872383, + 0.8652909374964555 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -707.195925668942, + 239.90010066102968, + 0.8652909374964555 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-25_1004011520/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-25_1004011520/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0662f920ad17ace8ae734901344d08d17b626ba8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-20-25_1004011520/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -972.1268468097722, + 389.6417358829693, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -970.6268468097722, + 387.04365967161596, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -969.1268468097722, + 384.44558346026264, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -967.6268468097722, + 381.8475072489093, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -966.1268468097722, + 379.249431037556, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -964.6268468097722, + 376.6513548262027, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -963.1268468097722, + 374.0532786148494, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -961.6268468097722, + 371.45520240349606, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -960.1268468097722, + 368.85712619214274, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -958.6268468097722, + 366.2590499807894, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -957.1268468097722, + 363.6609737694361, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -955.6268468097722, + 361.0628975580828, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -954.1268468097722, + 358.4648213467295, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -952.6268468097722, + 355.86674513537616, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -951.1268468097722, + 353.26866892402285, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -949.6268468097722, + 350.67059271266953, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -948.1268468097722, + 348.0725165013162, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -946.6268468097722, + 345.4744402899629, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -945.1268468097722, + 342.8763640786096, + 4.890704898332393 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -943.6268468097722, + 340.27828786725627, + 4.890704898332393 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-25-57_1569654968/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-25-57_1569654968/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f61bde17ff5bec541abfd778d03c326db0c8ddba --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-25-57_1569654968/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 260.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 263.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 266.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 269.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 272.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 272.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 272.5015003154698, + -9.179401252580895, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 274.0015003154698, + -6.581325041227579, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 275.5015003154698, + -3.983248829874263, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 277.0015003154698, + -1.3851726185209472, + 2.227978941034565 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 277.0015003154698, + -1.3851726185209472, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 279.5995765268231, + 0.11482738147905258, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 282.19765273817643, + 1.6148273814790524, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 284.79572894952975, + 3.114827381479052, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 287.39380516088306, + 4.614827381479052, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 289.9918813722364, + 6.114827381479052, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 292.5899575835897, + 7.614827381479052, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.188033794943, + 9.114827381479051, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 297.7861100062963, + 10.614827381479051, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 300.38418621764964, + 12.114827381479051, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 302.98226242900296, + 13.614827381479051, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 305.5803386403563, + 15.114827381479051, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 308.1784148517096, + 16.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982984 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 310.7764910630629, + 18.11482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 313.3745672744162, + 19.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 315.97264348576954, + 21.11482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 318.57071969712285, + 22.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 321.16879590847617, + 24.11482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 323.7668721198295, + 25.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 326.3649483311828, + 27.11482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 328.9630245425361, + 28.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 331.56110075388943, + 30.11482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 334.15917696524275, + 31.61482738147905, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 336.75725317659607, + 33.114827381479046, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982978 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 339.3553293879494, + 34.614827381479046, + 2.227978941034565 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 341.9534055993027, + 36.114827381479046, + 2.227978941034565 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 344.9839593505859, + 35.070869789123535, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-30-27_1189544209/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-30-27_1189544209/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2018120e54676bbc34a9ec7d5157b9e06a1cd016 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-30-27_1189544209/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -587.2509064533975, + -18.532398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -589.8489826647508, + -17.032398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -592.4470588761042, + -15.532398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -595.0451350874575, + -14.032398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -597.6432112988109, + -12.532398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -600.2412875101643, + -11.032398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -602.8393637215177, + -9.532398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -605.437439932871, + -8.032398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -608.0355161442244, + -6.532398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -610.6335923555778, + -5.032398020751415, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -613.2316685669311, + -3.5323980207514154, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -615.8297447782845, + -2.0323980207514154, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -618.4278209896379, + -0.5323980207514156, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -621.0258972009913, + 0.9676019792485842, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -623.6239734123446, + 2.4676019792485837, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -626.222049623698, + 3.9676019792485837, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -628.8201258350514, + 5.467601979248584, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -631.4182020464048, + 6.967601979248584, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -634.0162782577581, + 8.467601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -636.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -636.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -639.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -642.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -645.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -648.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -651.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -654.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -657.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -660.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -663.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -666.6143544691115, + 9.967601979248583, + 1.3613550230488318 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-31-49_162403134/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-31-49_162403134/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e23305efd46640e63aad975cffd9a56329e7170b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-31-49_162403134/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -725.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -728.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -731.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -734.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -737.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -743.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -746.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -749.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -752.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -755.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -758.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -761.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -764.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -767.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -770.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -773.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -776.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -779.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -782.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -785.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -788.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -791.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -794.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -797.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -800.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -803.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -806.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -809.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -812.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -815.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -818.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -821.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -824.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -827.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -827.8633208546144, + 7.255468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -830.4613970659677, + 8.755468260067119, + 4.275069960213969 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991504 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -833.0594732773211, + 10.255468260067119, + 4.275069960213969 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991504 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-32-22_1138101281/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-32-22_1138101281/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddab29181b5f01c4ec6ac06e00a27461698c7580 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-32-22_1138101281/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -719.2014463856381, + 154.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -719.2014463856381, + 157.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -719.2014463856381, + 160.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -719.2014463856381, + 163.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -719.2014463856381, + 166.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -719.2014463856381, + 169.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -719.2014463856381, + 172.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -719.2014463856381, + 175.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -719.2014463856381, + 178.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -719.2014463856381, + 181.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -719.2014463856381, + 184.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -719.2014463856381, + 187.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -719.2014463856381, + 190.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -719.2014463856381, + 193.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -719.2014463856381, + 196.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -719.2014463856381, + 199.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -719.2014463856381, + 202.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -719.2014463856381, + 205.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -719.2014463856381, + 208.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -719.2014463856381, + 211.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -719.2014463856381, + 214.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -719.2014463856381, + 217.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -719.2014463856381, + 220.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -719.2014463856381, + 223.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -719.2014463856381, + 226.55401616891422, + 4.880265535219227 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -719.2014463856381, + 226.55401616891422, + 4.880265535219227 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -719.2014463856381, + 226.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -716.6033701742847, + 228.05401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -714.0052939629313, + 229.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -711.407217751578, + 231.05401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -708.8091415402246, + 232.55401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.2110653288712, + 234.05401616891422, + 4.880265535219227 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.6129891175178, + 235.55401616891422, + 4.880265535219227 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-38_547772603/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-38_547772603/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cba7147023f16323c4fd34fcea9de9c41a2dae95 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-36-38_547772603/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 219.1216326243606, + 684.6031601820218, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 216.52355641300727, + 686.1031601820218, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 213.92548020165395, + 687.6031601820218, + 0.32495283269397035 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 213.92548020165395, + 687.6031601820218, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 212.42548020165395, + 690.2012363933752, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 210.92548020165395, + 692.7993126047286, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 209.42548020165395, + 695.397388816082, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 207.92548020165395, + 697.9954650274353, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 206.42548020165395, + 700.5935412387887, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 204.92548020165395, + 703.1916174501421, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 203.42548020165395, + 705.7896936614954, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 201.92548020165395, + 708.3877698728488, + 0.32495283269397035 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 201.92548020165395, + 708.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 201.92548020165395, + 711.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 201.92548020165395, + 714.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 201.92548020165395, + 717.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 201.92548020165395, + 720.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 201.92548020165395, + 723.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 201.92548020165395, + 726.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 201.92548020165395, + 729.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 201.92548020165395, + 732.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 201.92548020165395, + 735.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 201.92548020165395, + 738.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 201.92548020165395, + 741.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 201.92548020165395, + 744.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 201.92548020165395, + 747.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 201.92548020165395, + 750.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 201.92548020165395, + 753.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 201.92548020165395, + 756.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 201.92548020165395, + 759.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 201.92548020165395, + 762.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.92548020165395, + 765.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 201.92548020165395, + 768.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 201.92548020165395, + 771.3877698728488, + 0.32495283269397035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 201.92548020165395, + 774.3877698728488, + 0.32495283269397035 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-37-28_216272000/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-37-28_216272000/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05a94997a8ceb04c2253c85e9361a30967efb5de --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-37-28_216272000/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -414.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -417.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -420.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -423.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -426.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -429.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -432.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -435.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -438.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -441.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -444.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -447.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -450.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -453.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -456.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -459.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -462.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -465.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -468.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -471.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -474.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -477.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -480.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -480.2491202467745, + -239.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -482.8471964581278, + -237.98358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -485.44527266948114, + -236.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -488.04334888083446, + -234.98358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -490.6414250921878, + -233.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -493.2395013035411, + -231.98358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -495.8375775148944, + -230.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -498.4356537262477, + -228.98358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -501.03372993760104, + -227.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -503.63180614895435, + -225.98358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -506.22988236030767, + -224.48358755831538, + -0.09112414481306885 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -508.827958571661, + -222.98358755831538, + -0.09112414481306885 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-38-59_856979759/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-38-59_856979759/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc5eb8cf3bd715a90ccdac5125ad9ecdbe25b69a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-38-59_856979759/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -961.8254072928037, + 202.69980299890358, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -963.3254072928037, + 205.2978792102569, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -964.8254072928037, + 207.8959554216102, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -966.3254072928037, + 210.49403163296353, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -967.8254072928037, + 213.09210784431684, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -969.3254072928037, + 215.69018405567016, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -970.8254072928037, + 218.28826026702347, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -972.3254072928037, + 220.8863364783768, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -973.8254072928037, + 223.4844126897301, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -975.3254072928037, + 226.08248890108342, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -976.8254072928037, + 228.68056511243674, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -978.3254072928037, + 231.27864132379005, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -979.8254072928037, + 233.87671753514337, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -981.3254072928037, + 236.4747937464967, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -982.8254072928037, + 239.07286995785, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -984.3254072928037, + 241.67094616920332, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -985.8254072928037, + 244.26902238055663, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -987.3254072928037, + 246.86709859190995, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -988.8254072928037, + 249.46517480326327, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -990.3254072928037, + 252.06325101461658, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -991.8254072928037, + 254.6613272259699, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -993.3254072928037, + 257.2594034373232, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -994.8254072928037, + 259.85747964867653, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -996.3254072928037, + 262.45555586002985, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -997.8254072928037, + 265.05363207138316, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -999.3254072928037, + 267.6517082827365, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -1000.8254072928037, + 270.2497844940898, + -2.6545540928987026 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -1000.8254072928037, + 270.2497844940898, + -2.6545540928987026 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -1000.8254072928037, + 273.2497844940898, + -2.6545540928987026 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-4-8_683309587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-4-8_683309587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bab24db1d9cef592f8e191ea72c7a84d0b37fe8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-4-8_683309587/pose.jsonl @@ -0,0 +1,287 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 418.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 421.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 424.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 427.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 430.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 433.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 436.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 439.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 442.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 445.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 448.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 451.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 454.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 457.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 460.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 463.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 466.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 469.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 472.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 475.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 478.7205107771594, + 21.66348902317186, + -4.8895103343656094 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-42-59_1752143421/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-42-59_1752143421/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cf7a34addbd46c7611e0c1a9783e433131451e68 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-42-59_1752143421/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 307.61869031940876, + 763.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 307.61869031940876, + 760.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 307.61869031940876, + 757.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 307.61869031940876, + 754.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 307.61869031940876, + 751.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 307.61869031940876, + 748.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 307.61869031940876, + 745.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 307.61869031940876, + 742.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 307.61869031940876, + 739.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 307.61869031940876, + 736.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 307.61869031940876, + 733.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 307.61869031940876, + 730.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 307.61869031940876, + 727.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 307.61869031940876, + 724.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 307.61869031940876, + 721.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 307.61869031940876, + 718.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 307.61869031940876, + 715.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 307.61869031940876, + 712.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 307.61869031940876, + 709.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 307.61869031940876, + 706.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 307.61869031940876, + 703.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 307.61869031940876, + 700.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 307.61869031940876, + 697.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 307.61869031940876, + 694.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 307.61869031940876, + 691.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 307.61869031940876, + 688.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 307.61869031940876, + 685.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 307.61869031940876, + 682.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 307.61869031940876, + 679.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 307.61869031940876, + 676.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 307.61869031940876, + 673.1356431631741, + 0.21629438569180426 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 307.61869031940876, + 670.1356431631741, + 0.21629438569180426 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-48-13_1798027458/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-48-13_1798027458/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d66b1a52ac506248e700e00d9c20cf7988374b3b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-48-13_1798027458/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -795.5982446124359, + 91.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -793.0001684010826, + 92.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -790.4020921897293, + 94.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -787.8040159783759, + 95.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -785.2059397670225, + 97.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -782.6078635556692, + 98.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -780.0097873443158, + 100.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -777.4117111329624, + 101.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -774.813634921609, + 103.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -772.2155587102557, + 104.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.6174824989023, + 106.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -767.0194062875489, + 107.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -764.4213300761955, + 109.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.8232538648422, + 110.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -759.2251776534888, + 112.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.6271014421354, + 113.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.029025230782, + 115.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -751.4309490194287, + 116.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -748.8328728080753, + 118.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -746.2347965967219, + 119.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -743.6367203853686, + 121.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -741.0386441740152, + 122.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -738.4405679626618, + 124.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -735.8424917513084, + 125.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -733.2444155399551, + 127.2912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.6463393286017, + 128.7912345145042, + -0.6823751256198252 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -728.0482631172483, + 130.2912345145042, + -0.6823751256198252 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-15_871700699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-15_871700699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b772ca9439be5a8ad1c194117e99e30e7c5a91c2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-15_871700699/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -29.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -26.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -23.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -20.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -17.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -14.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -11.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -8.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -5.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -2.05962104475951, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 0.9403789552404902, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 3.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 6.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 9.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 12.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 15.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 18.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 21.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 24.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 27.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 30.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 33.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 36.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 39.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 42.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 42.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 42.94037895524049, + 5.2338558832747495, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 44.44037895524049, + 2.6357796719214335, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 45.94037895524049, + 0.037703460568117464, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 47.44037895524049, + -2.5603727507851985, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 48.94037895524049, + -5.158448962138515, + 1.6662912663145857 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 48.94037895524049, + -5.158448962138515, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 51.538455166593806, + -6.658448962138515, + 1.6662912663145857 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 54.13653137794712, + -8.158448962138515, + 1.6662912663145857 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-32_701943705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-32_701943705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2ad3ba8fc1f6b4ebbb0c9df3339c1c97f901a8d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-51-32_701943705/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -311.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -314.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -317.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -320.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -323.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -326.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -329.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -332.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -335.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -338.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -341.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -344.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -347.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -350.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -353.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -356.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -356.44562314507016, + -198.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -359.0436993564235, + -196.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -361.6417755677768, + -195.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.2398517791301, + -193.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -366.8379279904834, + -192.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -369.43600420183674, + -190.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -372.03408041319005, + -189.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -374.63215662454337, + -187.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -377.2302328358967, + -186.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -379.82830904725, + -184.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -382.4263852586033, + -183.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -385.02446146995663, + -181.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.62253768130995, + -180.1317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -390.22061389266327, + -178.6317493392202, + -4.565089738807567 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -392.8186901040166, + -177.1317493392202, + -4.565089738807567 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-52-58_1820042348/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-52-58_1820042348/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..21e63bf3eaa948bccd6668d26155ddb6468cb3d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-52-58_1820042348/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.3525856054675, + 55.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -640.9506618168209, + 57.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -643.5487380281743, + 58.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.1468142395277, + 60.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -648.744890450881, + 61.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.3429666622344, + 63.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -653.9410428735878, + 64.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.5391190849411, + 66.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.1371952962945, + 67.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -661.7352715076479, + 69.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.3333477190013, + 70.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -666.9314239303546, + 72.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.529500141708, + 73.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.1275763530614, + 75.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -674.7256525644148, + 76.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.3237287757681, + 78.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -679.9218049871215, + 79.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.5198811984749, + 81.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.1179574098283, + 82.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -687.7160336211816, + 84.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -690.314109832535, + 85.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.9121860438884, + 87.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -695.5102622552417, + 88.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -698.1083384665951, + 90.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -700.7064146779485, + 91.68718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -703.3044908893019, + 93.18718891718598, + -0.9143730470279685 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -703.3044908893019, + 93.18718891718598, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -704.8044908893019, + 95.7852651285393, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -706.3044908893019, + 98.38334133989261, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -707.8044908893019, + 100.98141755124593, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -709.3044908893019, + 103.57949376259924, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -710.8044908893019, + 106.17756997395256, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -712.3044908893019, + 108.77564618530587, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -713.8044908893019, + 111.37372239665919, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -715.3044908893019, + 113.9717986080125, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -716.8044908893019, + 116.56987481936582, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -718.3044908893019, + 119.16795103071914, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -719.8044908893019, + 121.76602724207245, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -721.3044908893019, + 124.36410345342577, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -722.8044908893019, + 126.96217966477909, + -0.9143730470279685 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -724.3044908893019, + 129.5602558761324, + -0.9143730470279685 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-58_574620392/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-58_574620392/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..56ea606cbb12863065f0c5af9bc8a24351e4b42d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-56-58_574620392/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -604.9607092728178, + 152.74745192675306, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -606.4607092728178, + 150.14937571539974, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -607.9607092728178, + 147.55129950404643, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -609.4607092728178, + 144.9532232926931, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -610.9607092728178, + 142.3551470813398, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -612.4607092728178, + 139.75707086998648, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -613.9607092728178, + 137.15899465863316, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -615.4607092728178, + 134.56091844727985, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -616.9607092728178, + 131.96284223592653, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -618.4607092728178, + 129.3647660245732, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -619.9607092728178, + 126.7666898132199, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -621.4607092728178, + 124.16861360186658, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -622.9607092728178, + 121.57053739051327, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -624.4607092728178, + 118.97246117915995, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -625.9607092728178, + 116.37438496780663, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -627.4607092728178, + 113.77630875645332, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -628.9607092728178, + 111.1782325451, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -630.4607092728178, + 108.58015633374669, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.9607092728178, + 105.98208012239337, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -633.4607092728178, + 103.38400391104005, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.9607092728178, + 100.78592769968674, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -636.4607092728178, + 98.18785148833342, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -637.9607092728178, + 95.5897752769801, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -639.4607092728178, + 92.99169906562679, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.9607092728178, + 90.39362285427347, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -642.4607092728178, + 87.79554664292016, + -2.3075813303664106 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -642.4607092728178, + 87.79554664292016, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -645.058785484171, + 86.29554664292016, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -647.6568616955244, + 84.79554664292016, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -650.2549379068778, + 83.29554664292016, + -2.3075813303664106 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -652.8530141182312, + 81.79554664292016, + -2.3075813303664106 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-6-36_978053418/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-6-36_978053418/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..382389628fefaccc20aa70ebd3b468f9ddd19e6c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-6-36_978053418/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -146.72468474411278, + -578.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -146.72468474411278, + -575.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -146.72468474411278, + -572.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -146.72468474411278, + -569.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -146.72468474411278, + -566.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -146.72468474411278, + -563.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -146.72468474411278, + -560.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -146.72468474411278, + -557.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -146.72468474411278, + -554.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -146.72468474411278, + -551.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -146.72468474411278, + -548.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -146.72468474411278, + -545.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -146.72468474411278, + -542.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -146.72468474411278, + -539.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -146.72468474411278, + -536.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -146.72468474411278, + -533.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.72468474411278, + -530.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -146.72468474411278, + -527.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.72468474411278, + -524.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -146.72468474411278, + -521.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -146.72468474411278, + -518.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -146.72468474411278, + -515.9342698533397, + -4.45894107086453 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.72468474411278, + -515.9342698533397, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -148.22468474411278, + -513.3361936419865, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -149.72468474411278, + -510.73811743063317, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -151.22468474411278, + -508.14004121927985, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -152.72468474411278, + -505.54196500792654, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -154.22468474411278, + -502.9438887965732, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -155.72468474411278, + -500.3458125852199, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -157.22468474411278, + -497.7477363738666, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -158.72468474411278, + -495.14966016251327, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -160.22468474411278, + -492.55158395115996, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -161.72468474411278, + -489.95350773980664, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -163.22468474411278, + -487.3554315284533, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -164.72468474411278, + -484.7573553171, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -166.22468474411278, + -482.1592791057467, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -167.72468474411278, + -479.5612028943934, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -169.22468474411278, + -476.96312668304006, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -170.72468474411278, + -474.36505047168674, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -172.22468474411278, + -471.7669742603334, + -4.45894107086453 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -173.72468474411278, + -469.1688980489801, + -4.45894107086453 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-19_1917104697/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-19_1917104697/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7644aa417f68842efc0746ea5dfaa3ed50bd4e98 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-19_1917104697/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 113.29793492670954, + -44.36047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 110.69985871535623, + -42.86047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 108.10178250400291, + -41.36047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 105.5037062926496, + -39.86047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 102.90563008129628, + -38.36047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 100.30755386994296, + -36.86047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 97.70947765858965, + -35.36047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 95.11140144723633, + -33.86047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 92.51332523588302, + -32.36047396364476, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 89.9152490245297, + -30.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 87.31717281317638, + -29.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 84.71909660182307, + -27.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 82.12102039046975, + -26.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 79.52294417911644, + -24.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 76.92486796776312, + -23.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 74.3267917564098, + -21.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 71.72871554505649, + -20.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 69.13063933370317, + -18.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 66.53256312234986, + -17.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 63.93448691099654, + -15.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 61.336410699643224, + -14.360473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.73833448828991, + -12.860473963644758, + 4.6759266506479324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 56.14025827693659, + -11.360473963644758, + 4.6759266506479324 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-48_1089966067/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-48_1089966067/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..97d15dbbb6447a1e010039be2eae8aee45876b04 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_0-8-48_1089966067/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -93.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -90.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -87.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -84.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -81.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -78.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -75.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -72.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -69.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -66.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -66.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -66.16848885874799, + -208.36745594841102, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -64.66848885874799, + -210.96553215976434, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -63.16848885874799, + -213.56360837111765, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -61.66848885874799, + -216.16168458247097, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -60.16848885874799, + -218.75976079382428, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -58.66848885874799, + -221.3578370051776, + -0.955791538060156 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -58.66848885874799, + -221.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -56.070412647394676, + -222.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -53.47233643604136, + -224.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -50.874260224688044, + -225.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -48.27618401333473, + -227.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -45.67810780198141, + -228.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -43.080031590628096, + -230.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -40.48195537927478, + -231.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -37.883879167921464, + -233.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -35.28580295656815, + -234.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -32.68772674521483, + -236.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -30.089650533861516, + -237.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -27.4915743225082, + -239.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -24.893498111154884, + -240.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -22.295421899801568, + -242.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -19.69734568844825, + -243.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -17.099269477094936, + -245.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -14.50119326574162, + -246.8578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -11.903117054388304, + -248.3578370051776, + -0.955791538060156 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -9.305040843034988, + -249.8578370051776, + -0.955791538060156 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-0-49_1572255140/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-0-49_1572255140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..64a293d448e23b2c10ca0ccbaf8345d0a7ebbe7f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-0-49_1572255140/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -889.0479156470778, + 355.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -889.0479156470778, + 358.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -889.0479156470778, + 361.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -889.0479156470778, + 364.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -889.0479156470778, + 367.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -889.0479156470778, + 370.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -889.0479156470778, + 373.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -889.0479156470778, + 376.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -889.0479156470778, + 379.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -889.0479156470778, + 382.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -889.0479156470778, + 385.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -889.0479156470778, + 388.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -889.0479156470778, + 391.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -889.0479156470778, + 394.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -889.0479156470778, + 397.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -889.0479156470778, + 400.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -889.0479156470778, + 403.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -889.0479156470778, + 406.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -889.0479156470778, + 409.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -889.0479156470778, + 412.5035688988199, + 4.458739254871579 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -889.0479156470778, + 412.5035688988199, + 4.458739254871579 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -889.0479156470778, + 412.5035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -886.4498394357245, + 414.0035688988199, + 4.458739254871579 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -883.8517632243711, + 415.5035688988199, + 4.458739254871579 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-21_1714710647/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-21_1714710647/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a4638c48b97f61164df559184c3d75861853579e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-21_1714710647/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -635.4391697882651, + 295.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -638.0372459996183, + 293.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -640.6353222109717, + 292.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -643.2333984223251, + 290.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -645.8314746336785, + 289.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -648.4295508450318, + 287.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -651.0276270563852, + 286.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -653.6257032677386, + 284.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -656.223779479092, + 283.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.8218556904453, + 281.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -661.4199319017987, + 280.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -664.0180081131521, + 278.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -666.6160843245054, + 277.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -669.2141605358588, + 275.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -671.8122367472122, + 274.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -674.4103129585656, + 272.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -677.0083891699189, + 271.4809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -679.6064653812723, + 269.9809585600856, + 3.5698088782474677 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -679.6064653812723, + 269.9809585600856, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -681.1064653812723, + 267.38288234873227, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.6064653812723, + 264.78480613737895, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -684.1064653812723, + 262.18672992602563, + 3.5698088782474677 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.6064653812723, + 259.5886537146723, + 3.5698088782474677 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-53_1908681983/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-53_1908681983/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dae546c774bf43a70007344d80cc81c3c1723896 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-1-53_1908681983/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -28.02934737700521, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -25.02934737700521, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -22.02934737700521, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -19.02934737700521, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -16.02934737700521, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -13.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -10.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -7.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -4.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -4.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -4.029347377005209, + 120.7334649319201, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -2.5293473770052084, + 123.33154114327341, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -1.029347377005208, + 125.92961735462673, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 0.4706526229947925, + 128.52769356598003, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965952 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 1.970652622994793, + 131.12576977733335, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 3.4706526229947934, + 133.72384598868666, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 4.970652622994794, + 136.32192220003998, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 6.470652622994795, + 138.9199984113933, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965974 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 7.970652622994795, + 141.5180746227466, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.470652622994795, + 144.11615083409993, + -2.8079785769851826 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 9.470652622994795, + 144.11615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 12.06872883434811, + 145.61615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 14.666805045701427, + 147.11615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 17.264881257054743, + 148.61615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 19.86295746840806, + 150.11615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 22.461033679761375, + 151.61615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 25.05910989111469, + 153.11615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 27.657186102468007, + 154.61615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 30.255262313821323, + 156.11615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 32.853338525174635, + 157.61615083409993, + -2.8079785769851826 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982995 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 35.45141473652795, + 159.11615083409993, + -2.8079785769851826 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982995 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-26_859310840/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-26_859310840/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9db082059c63c9ea3e4fb6e34919403892499f3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-11-26_859310840/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -31.864389359560107, + 98.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -29.26631314820679, + 99.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -26.668236936853475, + 101.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -24.07016072550016, + 102.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -21.472084514146843, + 104.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -18.874008302793527, + 105.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -16.27593209144021, + 107.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -13.677855880086895, + 108.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -11.079779668733579, + 110.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -8.481703457380263, + 111.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -5.883627246026947, + 113.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -3.285551034673631, + 114.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -0.687474823320315, + 116.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 1.910601388033001, + 117.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 4.508677599386317, + 119.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 7.106753810739633, + 120.7947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 9.704830022092949, + 122.2947613135683, + -1.8667439562486576 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 9.704830022092949, + 122.2947613135683, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 11.204830022092949, + 124.89283752492162, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 12.704830022092949, + 127.49091373627493, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 14.204830022092949, + 130.08898994762825, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 15.704830022092949, + 132.68706615898157, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 17.20483002209295, + 135.28514237033488, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 18.70483002209295, + 137.8832185816882, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 20.20483002209295, + 140.4812947930415, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 21.70483002209295, + 143.07937100439483, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 23.20483002209295, + 145.67744721574815, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 24.70483002209295, + 148.27552342710146, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 26.20483002209295, + 150.87359963845478, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 27.70483002209295, + 153.4716758498081, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 29.20483002209295, + 156.0697520611614, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 30.70483002209295, + 158.66782827251473, + -1.8667439562486576 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 30.70483002209295, + 158.66782827251473, + -1.8667439562486576 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 33.302906233446265, + 160.16782827251473, + -1.8667439562486576 + ], + "type": "stop", + "value": 0, + "yaw": 0.523598775598299 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-56_237140292/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-56_237140292/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..051bc9faabdc18e554b36b4b72aafacd2df2fcd7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-20-56_237140292/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -669.1363960553502, + 138.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -669.1363960553502, + 141.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -669.1363960553502, + 144.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -669.1363960553502, + 147.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -669.1363960553502, + 150.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -669.1363960553502, + 153.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -669.1363960553502, + 156.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -669.1363960553502, + 159.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -669.1363960553502, + 162.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -669.1363960553502, + 165.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -669.1363960553502, + 168.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -669.1363960553502, + 171.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.1363960553502, + 174.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -669.1363960553502, + 177.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -669.1363960553502, + 180.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -669.1363960553502, + 183.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -669.1363960553502, + 186.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -669.1363960553502, + 189.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -669.1363960553502, + 192.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -669.1363960553502, + 195.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -669.1363960553502, + 198.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -669.1363960553502, + 201.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -669.1363960553502, + 204.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -669.1363960553502, + 207.2275703993633, + -0.08442944864503321 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -669.1363960553502, + 207.2275703993633, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.6363960553502, + 209.8256466107166, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -672.1363960553502, + 212.42372282206992, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -673.6363960553502, + 215.02179903342324, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -675.1363960553502, + 217.61987524477655, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -676.6363960553502, + 220.21795145612987, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -678.1363960553502, + 222.81602766748318, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -679.6363960553502, + 225.4141038788365, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.1363960553502, + 228.01218009018982, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -682.6363960553502, + 230.61025630154313, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -684.1363960553502, + 233.20833251289645, + -0.08442944864503321 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -685.6363960553502, + 235.80640872424976, + -0.08442944864503321 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-31_1607967721/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-31_1607967721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cacd246b2a457e7853e81c89d92dc2c20fbe7747 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-31_1607967721/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -360.4044438509415, + -98.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -363.0025200622948, + -99.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -365.60059627364814, + -101.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -368.19867248500145, + -102.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -370.79674869635477, + -104.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -373.3948249077081, + -105.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -375.9929011190614, + -107.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -378.5909773304147, + -108.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -381.18905354176803, + -110.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -383.78712975312135, + -111.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -386.38520596447466, + -113.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -388.983282175828, + -114.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -391.5813583871813, + -116.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -394.1794345985346, + -117.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -396.77751080988793, + -119.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -399.37558702124124, + -120.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -401.97366323259456, + -122.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -404.5717394439479, + -123.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -407.1698156553012, + -125.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -409.7678918666545, + -126.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -412.3659680780078, + -128.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -414.96404428936114, + -129.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -417.56212050071446, + -131.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -420.1601967120678, + -132.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -422.7582729234211, + -134.21071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -425.3563491347744, + -135.71071279964227, + 1.8942426173819875 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -425.3563491347744, + -135.71071279964227, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -426.8563491347744, + -138.30878901099558, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -428.3563491347744, + -140.9068652223489, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -429.8563491347744, + -143.50494143370221, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -431.3563491347744, + -146.10301764505553, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -432.8563491347744, + -148.70109385640885, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -434.3563491347744, + -151.29917006776216, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -435.8563491347744, + -153.89724627911548, + 1.8942426173819875 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -435.8563491347744, + -153.89724627911548, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -438.4544253461277, + -155.39724627911548, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -441.05250155748104, + -156.89724627911548, + 1.8942426173819875 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -443.65057776883435, + -158.39724627911548, + 1.8942426173819875 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-50_2063762111/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-50_2063762111/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9b2ebf6ff607552aa328ffe28530daee481105c3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-22-50_2063762111/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -252.71384670996517, + -419.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -250.11577049861185, + -420.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -247.51769428725854, + -422.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -244.91961807590522, + -423.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -242.3215418645519, + -425.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -239.7234656531986, + -426.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -237.12538944184527, + -428.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -234.52731323049196, + -429.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -231.92923701913864, + -431.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -229.33116080778532, + -432.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -226.733084596432, + -434.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -224.1350083850787, + -435.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -221.53693217372538, + -437.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -218.93885596237206, + -438.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -216.34077975101874, + -440.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -213.74270353966543, + -441.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -211.1446273283121, + -443.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -208.5465511169588, + -444.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -205.94847490560548, + -446.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -203.35039869425216, + -447.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -200.75232248289885, + -449.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -198.15424627154553, + -450.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -195.55617006019222, + -452.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -192.9580938488389, + -453.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -190.36001763748558, + -455.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -187.76194142613227, + -456.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -185.16386521477895, + -458.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -182.56578900342564, + -459.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -179.96771279207232, + -461.39207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -177.369636580719, + -462.89207442268605, + -3.508112967819287 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -174.7715603693657, + -464.39207442268605, + -3.508112967819287 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-23-16_861746410/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-23-16_861746410/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fe0fd20ee925e9b0d134378793feb21ae68ccd63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-23-16_861746410/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -667.233402670083, + 376.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -667.233402670083, + 373.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -667.233402670083, + 370.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -667.233402670083, + 367.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -667.233402670083, + 364.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -667.233402670083, + 361.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -667.233402670083, + 358.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -667.233402670083, + 355.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -667.233402670083, + 352.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -667.233402670083, + 349.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -667.233402670083, + 346.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -667.233402670083, + 343.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -667.233402670083, + 340.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -667.233402670083, + 337.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -667.233402670083, + 334.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -667.233402670083, + 331.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -667.233402670083, + 328.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -667.233402670083, + 325.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.233402670083, + 322.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -667.233402670083, + 319.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -667.233402670083, + 316.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -667.233402670083, + 313.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -667.233402670083, + 310.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -667.233402670083, + 307.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -667.233402670083, + 304.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -667.233402670083, + 301.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -667.233402670083, + 298.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -667.233402670083, + 295.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -667.233402670083, + 292.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -667.233402670083, + 289.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -667.233402670083, + 286.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -667.233402670083, + 283.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -667.233402670083, + 280.45138072368064, + 2.3693791727376663 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -667.233402670083, + 277.45138072368064, + 2.3693791727376663 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-26-19_966618017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-26-19_966618017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b287acb03a7f6c410ed020192ee2cdc3a69fe051 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-26-19_966618017/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -956.8935147262735, + 357.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -954.2954385149201, + 358.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -951.6973623035667, + 360.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -949.0992860922133, + 361.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -946.50120988086, + 363.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -943.9031336695066, + 364.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -941.3050574581532, + 366.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -938.7069812467998, + 367.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -936.1089050354465, + 369.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -933.5108288240931, + 370.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -930.9127526127397, + 372.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -928.3146764013864, + 373.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -925.716600190033, + 375.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -923.1185239786796, + 376.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -920.5204477673262, + 378.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -917.9223715559729, + 379.777339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -915.3242953446195, + 381.277339522833, + 1.0405401801844807 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -915.3242953446195, + 381.277339522833, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -913.8242953446195, + 383.87541573418633, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -912.3242953446195, + 386.47349194553965, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -910.8242953446195, + 389.07156815689297, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -909.3242953446195, + 391.6696443682463, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -907.8242953446195, + 394.2677205795996, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -906.3242953446195, + 396.8657967909529, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -904.8242953446195, + 399.46387300230623, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -903.3242953446195, + 402.06194921365955, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -901.8242953446195, + 404.66002542501286, + 1.0405401801844807 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -901.8242953446195, + 404.66002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -899.2262191332661, + 406.16002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -896.6281429219127, + 407.66002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -894.0300667105594, + 409.16002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -891.431990499206, + 410.66002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -888.8339142878526, + 412.16002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -886.2358380764992, + 413.66002542501286, + 1.0405401801844807 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -883.6377618651459, + 415.16002542501286, + 1.0405401801844807 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-7_1386099901/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-7_1386099901/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6ed70199957207b3cd377f7fcede25df672e4a74 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-27-7_1386099901/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -759.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -756.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -753.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -750.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -747.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -741.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -738.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -735.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -732.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -726.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -723.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -720.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -717.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -711.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -708.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -699.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -699.4011107767585, + 274.17264823426973, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -697.9011107767585, + 271.5745720229164, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -696.4011107767585, + 268.9764958115631, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -694.9011107767585, + 266.3784196002098, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -693.4011107767585, + 263.78034338885647, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -691.9011107767585, + 261.18226717750315, + -4.772827515515007 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -690.4011107767585, + 258.58419096614983, + -4.772827515515007 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-24_413892161/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-24_413892161/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2860361798d3432c6e457db9046b01967d176b92 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-24_413892161/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -732.4185943755714, + 35.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.0166705869246, + 36.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.614746798278, + 38.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -740.2128230096314, + 39.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -742.8108992209848, + 41.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.4089754323381, + 42.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -748.0070516436915, + 44.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -750.6051278550449, + 45.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -753.2032040663983, + 47.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.8012802777516, + 48.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -758.399356489105, + 50.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -760.9974327004584, + 51.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.5955089118117, + 53.03866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -766.1935851231651, + 54.53866042185361, + 2.0541598736817512 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -766.1935851231651, + 54.53866042185361, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.6935851231651, + 57.13673663320693, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -769.1935851231651, + 59.734812844560246, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -770.6935851231651, + 62.33288905591356, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.1935851231651, + 64.93096526726688, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.6935851231651, + 67.5290414786202, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -775.1935851231651, + 70.12711768997352, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.6935851231651, + 72.72519390132683, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.1935851231651, + 75.32327011268015, + 2.0541598736817512 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.1935851231651, + 75.32327011268015, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -780.7916613345185, + 76.82327011268015, + 2.0541598736817512 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -783.3897375458719, + 78.32327011268015, + 2.0541598736817512 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-54_1455252833/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-54_1455252833/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ff448fd1352a452a74ef9039481de369ebb8f47 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-29-54_1455252833/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -427.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -424.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -421.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -418.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -415.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -412.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -409.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -406.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -403.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -400.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -397.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -394.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -391.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -388.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -388.5389385786058, + 722.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -385.94086236725246, + 724.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -383.34278615589915, + 725.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -380.74470994454583, + 727.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -378.1466337331925, + 728.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -375.5485575218392, + 730.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -372.9504813104859, + 731.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -370.35240509913257, + 733.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -367.75432888777925, + 734.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -365.15625267642594, + 736.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -362.5581764650726, + 737.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -359.9601002537193, + 739.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -357.362024042366, + 740.9470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -354.7639478310127, + 742.4470408033859, + -2.984577912444761 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -352.16587161965936, + 743.9470408033859, + -2.984577912444761 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-32-55_1249152986/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-32-55_1249152986/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..755233f143d4998a99683d086febb5a75ffd1dcd --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-32-55_1249152986/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.5815708224371, + -250.88700631830383, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -279.1796470337904, + -252.38700631830383, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.7777232451437, + -253.88700631830383, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -284.375799456497, + -255.38700631830383, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.97387566785034, + -256.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915024 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.57195187920365, + -258.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -292.17002809055697, + -259.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.7681043019103, + -261.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -297.3661805132636, + -262.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.9642567246169, + -264.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -302.56233293597023, + -265.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -305.16040914732355, + -267.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -307.75848535867686, + -268.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -310.3565615700302, + -270.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.9546377813835, + -271.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -315.5527139927368, + -273.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -318.15079020409013, + -274.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.74886641544344, + -276.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -323.34694262679676, + -277.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.9450188381501, + -279.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -328.5430950495034, + -280.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -331.1411712608567, + -282.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -333.73924747221, + -283.8870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -336.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -336.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -339.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -342.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -345.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -348.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -351.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -354.33732368356334, + -285.3870063183038, + -4.513682795668691 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-22_1896870037/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-22_1896870037/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..12df162a4e43efc96b80794c80d954b455f80847 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-35-22_1896870037/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -188.4444384504056, + 724.2003578149141, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -189.9444384504056, + 721.6022816035609, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -191.4444384504056, + 719.0042053922075, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -192.9444384504056, + 716.4061291808541, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.4444384504056, + 713.8080529695007, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -195.9444384504056, + 711.2099767581474, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -197.4444384504056, + 708.611900546794, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -198.9444384504056, + 706.0138243354406, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -200.4444384504056, + 703.4157481240873, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -201.9444384504056, + 700.8176719127339, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -203.4444384504056, + 698.2195957013805, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -204.9444384504056, + 695.6215194900271, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -206.4444384504056, + 693.0234432786738, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.9444384504056, + 690.4253670673204, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -209.4444384504056, + 687.827290855967, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -210.9444384504056, + 685.2292146446136, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -212.4444384504056, + 682.6311384332603, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -213.9444384504056, + 680.0330622219069, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -215.4444384504056, + 677.4349860105535, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -216.9444384504056, + 674.8369097992002, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.4444384504056, + 672.2388335878468, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -219.9444384504056, + 669.6407573764934, + -4.966713019118392 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -219.9444384504056, + 669.6407573764934, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.54251466175893, + 668.1407573764934, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -225.14059087311225, + 666.6407573764934, + -4.966713019118392 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -227.73866708446556, + 665.1407573764934, + -4.966713019118392 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-44-18_1433572996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-44-18_1433572996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..03fc5c2ea0657df917154d2977c1a95426115bc8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-44-18_1433572996/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -339.3576887970295, + -225.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -341.9557650083828, + -224.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -344.5538412197361, + -222.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -347.15191743108943, + -221.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -349.74999364244275, + -219.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -352.34806985379606, + -218.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -354.9461460651494, + -216.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -357.5442222765027, + -215.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -360.142298487856, + -213.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -362.7403746992093, + -212.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -365.33845091056264, + -210.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -367.93652712191596, + -209.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -370.5346033332693, + -207.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -373.1326795446226, + -206.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -375.7307557559759, + -204.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -378.3288319673292, + -203.40431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -380.92690817868254, + -201.90431671598304, + -0.2825006422236207 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -380.92690817868254, + -201.90431671598304, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -382.42690817868254, + -199.30624050462973, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -383.92690817868254, + -196.7081642932764, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -385.42690817868254, + -194.1100880819231, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -386.92690817868254, + -191.51201187056978, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -388.42690817868254, + -188.91393565921646, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -389.92690817868254, + -186.31585944786315, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -391.42690817868254, + -183.71778323650983, + -0.2825006422236207 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -392.92690817868254, + -181.11970702515652, + -0.2825006422236207 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-49_949784416/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-49_949784416/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..39f8740a01ef640001a5558d21a4d8267255f7b9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-45-49_949784416/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -513.92246638824, + 75.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -510.92246638823997, + 75.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -507.92246638823997, + 75.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -504.92246638823997, + 75.85813274969618, + 3.4510420498337258 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -504.92246638823997, + 75.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -502.32439017688665, + 74.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -499.72631396553334, + 72.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -497.12823775418, + 71.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -494.5301615428267, + 69.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -491.9320853314734, + 68.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -489.3340091201201, + 66.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -486.73593290876676, + 65.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -484.13785669741344, + 63.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -481.5397804860601, + 62.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -478.9417042747068, + 60.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -476.3436280633535, + 59.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -473.7455518520002, + 57.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -471.14747564064686, + 56.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -468.54939942929354, + 54.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -465.9513232179402, + 53.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -463.3532470065869, + 51.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -460.7551707952336, + 50.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -458.1570945838803, + 48.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -455.55901837252696, + 47.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -452.96094216117365, + 45.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -450.36286594982033, + 44.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -447.764789738467, + 42.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -445.1667135271137, + 41.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -442.5686373157604, + 39.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -439.97056110440707, + 38.35813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -437.37248489305375, + 36.85813274969618, + 3.4510420498337258 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -434.77440868170044, + 35.35813274969618, + 3.4510420498337258 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-46-5_641450052/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-46-5_641450052/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f41614e265d0a46b3fb84fac08fa35c636cf31f0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-46-5_641450052/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -745.1887678237647, + 95.32270136866957, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -746.6887678237647, + 97.92077758002289, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -748.1887678237647, + 100.5188537913762, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -749.6887678237647, + 103.11693000272952, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.1887678237647, + 105.71500621408283, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -752.6887678237647, + 108.31308242543615, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -754.1887678237647, + 110.91115863678947, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -755.6887678237647, + 113.50923484814278, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -757.1887678237647, + 116.1073110594961, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -758.6887678237647, + 118.70538727084941, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -760.1887678237647, + 121.30346348220273, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -761.6887678237647, + 123.90153969355605, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.1887678237647, + 126.49961590490936, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -764.6887678237647, + 129.0976921162627, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393193 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -766.1887678237647, + 131.695768327616, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -767.6887678237647, + 134.29384453896932, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -769.1887678237647, + 136.89192075032264, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -770.6887678237647, + 139.48999696167596, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -772.1887678237647, + 142.08807317302927, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -773.6887678237647, + 144.6861493843826, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -775.1887678237647, + 147.2842255957359, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -776.6887678237647, + 149.88230180708922, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.1887678237647, + 152.48037801844254, + 3.0424617785838795 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -778.1887678237647, + 152.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -778.1887678237647, + 155.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -778.1887678237647, + 158.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -778.1887678237647, + 161.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.1887678237647, + 164.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -778.1887678237647, + 167.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -778.1887678237647, + 170.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -778.1887678237647, + 173.48037801844254, + 3.0424617785838795 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -778.1887678237647, + 176.48037801844254, + 3.0424617785838795 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-48-57_107230151/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-48-57_107230151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0ad87479e466d4825c9b591113783c96fcf15ec --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-48-57_107230151/pose.jsonl @@ -0,0 +1,144 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 475.3845043971791, + 199.7308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 477.98258060853243, + 201.2308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 480.58065681988575, + 202.7308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 483.17873303123906, + 204.2308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 485.7768092425924, + 205.7308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 488.3748854539457, + 207.2308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 490.972961665299, + 208.7308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 493.5710378766523, + 210.2308001074178, + -4.2996465338566665 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 493.5710378766523, + 210.2308001074178, + -4.2996465338566665 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 496.5710378766523, + 210.2308001074178, + -4.2996465338566665 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-56-34_220510539/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-56-34_220510539/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2461e0eacaed888b97c162ef1fc562334c7566a2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_1-56-34_220510539/pose.jsonl @@ -0,0 +1,248 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -942.727388136043, + 320.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -945.3254643473963, + 322.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -947.9235405587497, + 323.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -950.521616770103, + 325.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -953.1196929814564, + 326.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -955.7177691928098, + 328.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -958.3158454041632, + 329.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -960.9139216155165, + 331.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -963.5119978268699, + 332.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -966.1100740382233, + 334.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -968.7081502495766, + 335.6806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -971.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -971.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -974.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -977.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -980.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -983.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -986.30622646093, + 337.1806920163895, + -4.155748749060584 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-0-56_48522001/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-0-56_48522001/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a30ea0fde9b651f35cb9188b89b37b7218eb91f3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-0-56_48522001/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 52.93526132037305, + -326.8647279863181, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 51.43526132037305, + -324.26665177496477, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 49.93526132037305, + -321.66857556361145, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 48.43526132037305, + -319.07049935225814, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 46.93526132037305, + -316.4724231409048, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 45.43526132037305, + -313.8743469295515, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.93526132037305, + -311.2762707181982, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 42.43526132037305, + -308.6781945068449, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 40.93526132037305, + -306.08011829549156, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 39.43526132037305, + -303.48204208413824, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 37.93526132037305, + -300.8839658727849, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 36.43526132037305, + -298.2858896614316, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 34.93526132037305, + -295.6878134500783, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 33.43526132037305, + -293.089737238725, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 31.93526132037305, + -290.49166102737166, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 30.43526132037305, + -287.89358481601835, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 28.93526132037305, + -285.29550860466503, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 27.43526132037305, + -282.6974323933117, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 25.93526132037305, + -280.0993561819584, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 24.43526132037305, + -277.5012799706051, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 22.93526132037305, + -274.90320375925177, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 21.43526132037305, + -272.30512754789845, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 19.93526132037305, + -269.70705133654513, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 18.43526132037305, + -267.1089751251918, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 16.93526132037305, + -264.5108989138385, + -1.896154512173403 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 16.93526132037305, + -264.5108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 14.337185109019735, + -263.0108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 11.73910889766642, + -261.5108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 9.141032686313103, + -260.0108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 6.542956474959787, + -258.5108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 3.9448802636064713, + -257.0108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 1.3468040522531552, + -255.5108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1.2512721591001608, + -254.0108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -3.8493483704534768, + -252.5108989138385, + -1.896154512173403 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -6.447424581806793, + -251.0108989138385, + -1.896154512173403 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-1-32_427204319/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-1-32_427204319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb5b2da18524cb4809bae6d75b4119ffd33fd1d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-1-32_427204319/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -253.67348458761336, + -230.01904305901513, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.17348458761336, + -227.42096684766182, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -256.67348458761336, + -224.8228906363085, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -258.17348458761336, + -222.22481442495518, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -259.67348458761336, + -219.62673821360187, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -261.17348458761336, + -217.02866200224855, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -262.67348458761336, + -214.43058579089524, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -264.17348458761336, + -211.83250957954192, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -265.67348458761336, + -209.2344333681886, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -267.17348458761336, + -206.6363571568353, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -268.67348458761336, + -204.03828094548197, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -270.17348458761336, + -201.44020473412866, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -271.67348458761336, + -198.84212852277534, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -273.17348458761336, + -196.24405231142202, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -274.67348458761336, + -193.6459761000687, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -276.17348458761336, + -191.0478998887154, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -277.67348458761336, + -188.44982367736208, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -279.17348458761336, + -185.85174746600876, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -280.67348458761336, + -183.25367125465544, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -282.17348458761336, + -180.65559504330213, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -283.67348458761336, + -178.0575188319488, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -285.17348458761336, + -175.4594426205955, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -286.67348458761336, + -172.86136640924218, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -288.17348458761336, + -170.26329019788886, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -289.67348458761336, + -167.66521398653555, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -291.17348458761336, + -165.06713777518223, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -292.67348458761336, + -162.46906156382892, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -294.17348458761336, + -159.8709853524756, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -295.67348458761336, + -157.27290914112228, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -297.17348458761336, + -154.67483292976897, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -298.67348458761336, + -152.07675671841565, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -300.17348458761336, + -149.47868050706234, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -301.67348458761336, + -146.88060429570902, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -303.17348458761336, + -144.2825280843557, + 0.9273992331041372 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -303.17348458761336, + -144.2825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -305.7715607989667, + -142.7825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -308.36963701032, + -141.2825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -310.9677132216733, + -139.7825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -313.5657894330266, + -138.2825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -316.16386564437994, + -136.7825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -318.76194185573326, + -135.2825280843557, + 0.9273992331041372 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -321.36001806708657, + -133.7825280843557, + 0.9273992331041372 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-8_520716454/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-8_520716454/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..baa4683bb26a8dc2aa17530e768111d2bad60f79 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-13-8_520716454/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -922.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -919.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -916.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -913.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -910.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -907.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -904.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -901.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -898.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -898.2146407427599, + 66.39235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -895.6165645314065, + 64.89235862343648, + -4.274498804549803 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -895.6165645314065, + 64.89235862343648, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -894.1165645314065, + 62.29428241208316, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -892.6165645314065, + 59.69620620072985, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -891.1165645314065, + 57.09812998937653, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -889.6165645314065, + 54.500053778023215, + -4.274498804549803 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -889.6165645314065, + 54.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -887.0184883200532, + 53.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -884.4204121086998, + 51.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -881.8223358973464, + 50.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -879.224259685993, + 48.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -876.6261834746397, + 47.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -874.0281072632863, + 45.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -871.4300310519329, + 44.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -868.8319548405796, + 42.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -866.2338786292262, + 41.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -863.6358024178728, + 39.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -861.0377262065194, + 38.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -858.4396499951661, + 36.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -855.8415737838127, + 35.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -853.2434975724593, + 33.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -850.645421361106, + 32.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -848.0473451497526, + 30.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -845.4492689383992, + 29.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -842.8511927270458, + 27.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -840.2531165156925, + 26.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -837.6550403043391, + 24.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -835.0569640929857, + 23.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -832.4588878816323, + 21.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -829.860811670279, + 20.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -827.2627354589256, + 18.500053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -824.6646592475722, + 17.000053778023215, + -4.274498804549803 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -822.0665830362188, + 15.500053778023215, + -4.274498804549803 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-14-16_845630304/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-14-16_845630304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87603a425eb35b4556385ab6ac3b1f7e3282005e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-14-16_845630304/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -166.5377598193715, + 317.1702162251926, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -165.0377598193715, + 319.7682924365459, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -163.5377598193715, + 322.3663686478992, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -162.0377598193715, + 324.9644448592525, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -160.5377598193715, + 327.56252107060584, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -159.0377598193715, + 330.16059728195916, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -157.5377598193715, + 332.7586734933125, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -156.0377598193715, + 335.3567497046658, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -154.5377598193715, + 337.9548259160191, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -153.0377598193715, + 340.5529021273724, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -151.5377598193715, + 343.15097833872574, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -150.0377598193715, + 345.74905455007905, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -148.5377598193715, + 348.34713076143237, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -147.0377598193715, + 350.9452069727857, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -145.5377598193715, + 353.543283184139, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -144.0377598193715, + 356.1413593954923, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -142.5377598193715, + 358.73943560684563, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -141.0377598193715, + 361.33751181819895, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -139.5377598193715, + 363.93558802955226, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -138.0377598193715, + 366.5336642409056, + 3.7041480186443927 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -138.0377598193715, + 366.5336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -135.43968360801819, + 368.0336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -132.84160739666487, + 369.5336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -130.24353118531155, + 371.0336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -127.64545497395824, + 372.5336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.04737876260492, + 374.0336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.4493025512516, + 375.5336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -119.85122633989829, + 377.0336642409056, + 3.7041480186443927 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -117.25315012854497, + 378.5336642409056, + 3.7041480186443927 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-16-38_613197917/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-16-38_613197917/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..184556c5865245ba741f32bdd69ee4b28b17c234 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-16-38_613197917/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -464.5706652313004, + 550.3597858227329, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -463.0706652313004, + 547.7617096113795, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -461.5706652313004, + 545.1636334000261, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -460.0706652313004, + 542.5655571886728, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -458.5706652313004, + 539.9674809773194, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -457.0706652313004, + 537.369404765966, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -455.5706652313004, + 534.7713285546126, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -454.0706652313004, + 532.1732523432593, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -452.5706652313004, + 529.5751761319059, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -451.0706652313004, + 526.9770999205525, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -449.5706652313004, + 524.3790237091991, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -448.0706652313004, + 521.7809474978458, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -446.5706652313004, + 519.1828712864924, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -445.0706652313004, + 516.584795075139, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -443.5706652313004, + 513.9867188637857, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -442.0706652313004, + 511.38864265243234, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -440.5706652313004, + 508.790566441079, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -439.0706652313004, + 506.1924902297257, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -437.5706652313004, + 503.5944140183724, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -436.0706652313004, + 500.9963378070191, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -434.5706652313004, + 498.39826159566576, + 0.33372852868574476 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -434.5706652313004, + 498.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -431.97258901994707, + 496.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -429.37451280859375, + 495.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -426.77643659724043, + 493.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -424.1783603858871, + 492.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -421.5802841745338, + 490.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -418.9822079631805, + 489.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -416.38413175182717, + 487.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -413.78605554047385, + 486.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -411.18797932912054, + 484.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -408.5899031177672, + 483.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -405.9918269064139, + 481.89826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -403.3937506950606, + 480.39826159566576, + 0.33372852868574476 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -400.7956744837073, + 478.89826159566576, + 0.33372852868574476 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-18-24_1106668624/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-18-24_1106668624/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f5f290c4293325a0d900c5d70f7f84a7a877b81d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-18-24_1106668624/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -746.0887261657252, + 169.7919798279445, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -744.5887261657252, + 167.19390361659117, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -743.0887261657252, + 164.59582740523786, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -741.5887261657252, + 161.99775119388454, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.0887261657252, + 159.39967498253122, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -738.5887261657252, + 156.8015987711779, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -737.0887261657252, + 154.2035225598246, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -735.5887261657252, + 151.60544634847128, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -734.0887261657252, + 149.00737013711796, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -732.5887261657252, + 146.40929392576464, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -731.0887261657252, + 143.81121771441133, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -729.5887261657252, + 141.213141503058, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -728.0887261657252, + 138.6150652917047, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -726.5887261657252, + 136.01698908035138, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -725.0887261657252, + 133.41891286899806, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -723.5887261657252, + 130.82083665764475, + 0.9835858835888267 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -723.5887261657252, + 130.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -720.990649954372, + 129.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -718.3925737430186, + 127.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -715.7944975316652, + 126.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -713.1964213203119, + 124.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -710.5983451089585, + 123.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.0002688976051, + 121.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -705.4021926862517, + 120.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -702.8041164748984, + 118.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -700.206040263545, + 117.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -697.6079640521916, + 115.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -695.0098878408382, + 114.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -692.4118116294849, + 112.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -689.8137354181315, + 111.32083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -687.2156592067781, + 109.82083665764475, + 0.9835858835888267 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -684.6175829954248, + 108.32083665764475, + 0.9835858835888267 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-21-8_1736709428/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-21-8_1736709428/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f53848cd7bca6e0a114fb5e832b0ffae7254c3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-21-8_1736709428/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -426.7602642249203, + -255.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -426.7602642249203, + -252.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -426.7602642249203, + -249.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -426.7602642249203, + -246.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -426.7602642249203, + -243.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -426.7602642249203, + -240.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -426.7602642249203, + -237.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -426.7602642249203, + -234.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -426.7602642249203, + -231.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -426.7602642249203, + -228.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -426.7602642249203, + -225.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -426.7602642249203, + -222.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -426.7602642249203, + -219.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -426.7602642249203, + -216.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -426.7602642249203, + -213.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -426.7602642249203, + -210.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -426.7602642249203, + -207.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -426.7602642249203, + -204.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -426.7602642249203, + -201.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -426.7602642249203, + -198.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -426.7602642249203, + -195.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -426.7602642249203, + -192.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -426.7602642249203, + -189.7126509533454, + -4.175574877350358 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -426.7602642249203, + -189.7126509533454, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -428.2602642249203, + -187.11457474199207, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -429.7602642249203, + -184.51649853063876, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -431.2602642249203, + -181.91842231928544, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -432.7602642249203, + -179.32034610793212, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -434.2602642249203, + -176.7222698965788, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -435.7602642249203, + -174.1241936852255, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -437.2602642249203, + -171.52611747387218, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -438.7602642249203, + -168.92804126251886, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -440.2602642249203, + -166.32996505116554, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -441.7602642249203, + -163.73188883981223, + -4.175574877350358 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -443.2602642249203, + -161.1338126284589, + -4.175574877350358 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-24-29_1077706541/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-24-29_1077706541/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..60fe43b70b5f93b062d63ce335c5b4b0c7054316 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-24-29_1077706541/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -629.9653809463417, + 230.4472261836733, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -631.4653809463417, + 233.04530239502662, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.9653809463417, + 235.64337860637994, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -634.4653809463417, + 238.24145481773326, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -635.9653809463417, + 240.83953102908657, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.4653809463417, + 243.4376072404399, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -638.9653809463417, + 246.0356834517932, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -640.4653809463417, + 248.63375966314652, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.9653809463417, + 251.23183587449984, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -643.4653809463417, + 253.82991208585315, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -644.9653809463417, + 256.42798829720647, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -646.4653809463417, + 259.0260645085598, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -647.9653809463417, + 261.6241407199131, + -2.2007462515277716 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -647.9653809463417, + 261.6241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -650.563457157695, + 263.1241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.1615333690484, + 264.6241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -655.7596095804017, + 266.1241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -658.3576857917551, + 267.6241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -660.9557620031085, + 269.1241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -663.5538382144618, + 270.6241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -666.1519144258152, + 272.1241407199131, + -2.2007462515277716 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.7499906371686, + 273.6241407199131, + -2.2007462515277716 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-47_731571083/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-47_731571083/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0d51e0125ba7d4381b984b58bd2e4b5b42b052f4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-26-47_731571083/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -170.1131250007605, + -154.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -170.1131250007605, + -151.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -170.1131250007605, + -148.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -170.1131250007605, + -145.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -170.1131250007605, + -142.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -170.1131250007605, + -139.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -170.1131250007605, + -136.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.1131250007605, + -133.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -170.1131250007605, + -130.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -170.1131250007605, + -127.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.1131250007605, + -124.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -170.1131250007605, + -121.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -170.1131250007605, + -118.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -170.1131250007605, + -115.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -170.1131250007605, + -112.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -170.1131250007605, + -109.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -170.1131250007605, + -106.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -170.1131250007605, + -103.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -170.1131250007605, + -100.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -170.1131250007605, + -97.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -170.1131250007605, + -94.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -170.1131250007605, + -91.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -170.1131250007605, + -88.61582830252462, + -0.6028600271335787 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -170.1131250007605, + -88.61582830252462, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -168.6131250007605, + -86.0177520911713, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -167.1131250007605, + -83.41967587981799, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -165.6131250007605, + -80.82159966846467, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -164.1131250007605, + -78.22352345711136, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -162.6131250007605, + -75.62544724575804, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -161.1131250007605, + -73.02737103440472, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -159.6131250007605, + -70.4292948230514, + -0.6028600271335787 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -158.1131250007605, + -67.83121861169809, + -0.6028600271335787 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-52_34829832/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-52_34829832/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..750cb1a4bab6100d234592fab82daf967bdb6764 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-27-52_34829832/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -281.45620652962566, + 633.70320682309, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -282.95620652962566, + 631.1051306117367, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -284.45620652962566, + 628.5070544003834, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -285.95620652962566, + 625.90897818903, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -287.45620652962566, + 623.3109019776766, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -288.95620652962566, + 620.7128257663232, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -290.45620652962566, + 618.1147495549699, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -291.95620652962566, + 615.5166733436165, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -293.45620652962566, + 612.9185971322631, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -294.95620652962566, + 610.3205209209098, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.45620652962566, + 607.7224447095564, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -297.95620652962566, + 605.124368498203, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -299.45620652962566, + 602.5262922868496, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -300.95620652962566, + 599.9282160754963, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -302.45620652962566, + 597.3301398641429, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -303.95620652962566, + 594.7320636527895, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -305.45620652962566, + 592.1339874414361, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -306.95620652962566, + 589.5359112300828, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -308.45620652962566, + 586.9378350187294, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -309.95620652962566, + 584.339758807376, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -311.45620652962566, + 581.7416825960227, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -312.95620652962566, + 579.1436063846693, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -314.45620652962566, + 576.5455301733159, + 3.126712080957038 + ], + "type": "turn right", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -314.45620652962566, + 576.5455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914846 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -317.054282740979, + 575.0455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -319.6523589523323, + 573.5455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -322.2504351636856, + 572.0455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -324.8485113750389, + 570.5455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -327.44658758639224, + 569.0455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -330.04466379774556, + 567.5455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -332.6427400090989, + 566.0455301733159, + 3.126712080957038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -335.2408162204522, + 564.5455301733159, + 3.126712080957038 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-3-57_1658698394/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-3-57_1658698394/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b653b918165c504ca9d12ce3cbeaff57242e39c4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-3-57_1658698394/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 396.355712265273, + 504.87179032839526, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.855712265273, + 507.4698665397486, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 399.355712265273, + 510.0679427511019, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 400.855712265273, + 512.6660189624552, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 402.355712265273, + 515.2640951738085, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 403.855712265273, + 517.8621713851619, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 405.355712265273, + 520.4602475965153, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 406.855712265273, + 523.0583238078686, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 408.355712265273, + 525.656400019222, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 409.855712265273, + 528.2544762305754, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 411.355712265273, + 530.8525524419288, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 412.855712265273, + 533.4506286532821, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 414.355712265273, + 536.0487048646355, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 415.855712265273, + 538.6467810759889, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 417.355712265273, + 541.2448572873423, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 418.855712265273, + 543.8429334986956, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 420.355712265273, + 546.441009710049, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 421.855712265273, + 549.0390859214024, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 423.355712265273, + 551.6371621327557, + -0.8245858076943735 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 423.355712265273, + 551.6371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 425.9537884766263, + 553.1371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 428.5518646879796, + 554.6371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 431.14994089933293, + 556.1371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 433.74801711068625, + 557.6371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 436.34609332203956, + 559.1371621327557, + -0.8245858076943735 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 438.9441695333929, + 560.6371621327557, + -0.8245858076943735 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-11_1265784918/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-11_1265784918/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..939b426fb50aa67639671a6ba36312cb255bc72f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-11_1265784918/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -223.39894318360334, + 728.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -223.39894318360334, + 725.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -223.39894318360334, + 722.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -223.39894318360334, + 719.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -223.39894318360334, + 716.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -223.39894318360334, + 713.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -223.39894318360334, + 710.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -223.39894318360334, + 707.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -223.39894318360334, + 704.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -223.39894318360334, + 701.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -223.39894318360334, + 698.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -223.39894318360334, + 695.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -223.39894318360334, + 692.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.39894318360334, + 689.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -223.39894318360334, + 686.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -223.39894318360334, + 683.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -223.39894318360334, + 680.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -223.39894318360334, + 677.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -223.39894318360334, + 674.7666265500368, + 3.2210977026462047 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -223.39894318360334, + 674.7666265500368, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -224.89894318360334, + 672.1685503386834, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -226.39894318360334, + 669.57047412733, + 3.2210977026462047 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -227.89894318360334, + 666.9723979159767, + 3.2210977026462047 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-25_374369755/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-25_374369755/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..972008860f5afd47176cce816c5125a9c2b80745 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-25_374369755/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -399.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -396.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -393.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -390.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -387.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -387.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -387.2231087425473, + 703.5205377343894, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -385.7231087425473, + 706.1186139457427, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -384.2231087425473, + 708.7166901570961, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -382.7231087425473, + 711.3147663684495, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -381.2231087425473, + 713.9128425798028, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -379.7231087425473, + 716.5109187911562, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -378.2231087425473, + 719.1089950025096, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -376.7231087425473, + 721.707071213863, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -375.2231087425473, + 724.3051474252163, + 4.46568994394346 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -375.2231087425473, + 724.3051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -372.625032531194, + 725.8051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -370.0269563198407, + 727.3051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -367.42888010848736, + 728.8051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -364.83080389713405, + 730.3051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.23272768578073, + 731.8051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -359.6346514744274, + 733.3051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -357.0365752630741, + 734.8051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -354.4384990517208, + 736.3051474252163, + 4.46568994394346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -354.4384990517208, + 736.3051474252163, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -352.9384990517208, + 738.9032236365697, + 4.46568994394346 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -351.4384990517208, + 741.5012998479231, + 4.46568994394346 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-58_1775428484/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-58_1775428484/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2bab50efdd23973fd7c1c57f52e070c8693330b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-31-58_1775428484/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -285.81645566704674, + -426.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -288.41453187840006, + -425.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -291.01260808975337, + -423.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -293.6106843011067, + -422.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -296.20876051246, + -420.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -298.8068367238133, + -419.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -301.40491293516664, + -417.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -304.00298914651995, + -416.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -306.60106535787327, + -414.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -309.1991415692266, + -413.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -311.7972177805799, + -411.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -314.3952939919332, + -410.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -316.99337020328653, + -408.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -319.59144641463985, + -407.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -322.18952262599316, + -405.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -324.7875988373465, + -404.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -327.3856750486998, + -402.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -329.9837512600531, + -401.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -332.5818274714064, + -399.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -335.17990368275974, + -398.01086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -337.77797989411306, + -396.51086509387864, + 0.14116459807749848 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -337.77797989411306, + -396.51086509387864, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -339.27797989411306, + -393.9127888825253, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -340.77797989411306, + -391.314712671172, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -342.27797989411306, + -388.7166364598187, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -343.77797989411306, + -386.11856024846537, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -345.27797989411306, + -383.52048403711206, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -346.77797989411306, + -380.92240782575874, + 0.14116459807749848 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -348.27797989411306, + -378.3243316144054, + 0.14116459807749848 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-33-26_1247291216/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-33-26_1247291216/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..519e9447e27f036edd5b7d83e9a6149644a10478 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-33-26_1247291216/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -202.06390546342837, + -489.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -202.06390546342837, + -486.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -202.06390546342837, + -483.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -202.06390546342837, + -480.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -202.06390546342837, + -477.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -202.06390546342837, + -474.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -202.06390546342837, + -471.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -202.06390546342837, + -468.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -202.06390546342837, + -465.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -202.06390546342837, + -462.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -202.06390546342837, + -459.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -202.06390546342837, + -456.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -202.06390546342837, + -453.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -202.06390546342837, + -450.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -202.06390546342837, + -447.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -202.06390546342837, + -444.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -202.06390546342837, + -441.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -202.06390546342837, + -438.2952340196814, + 0.06484117277544943 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -202.06390546342837, + -438.2952340196814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -203.56390546342837, + -435.6971578083281, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -205.06390546342837, + -433.09908159697477, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -206.56390546342837, + -430.50100538562145, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -208.06390546342837, + -427.90292917426814, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -209.56390546342837, + -425.3048529629148, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -211.06390546342837, + -422.7067767515615, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -212.56390546342837, + -420.1087005402082, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -214.06390546342837, + -417.5106243288549, + 0.06484117277544943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -215.56390546342837, + -414.91254811750156, + 0.06484117277544943 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-58_30874969/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-58_30874969/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d9728d62f7ace9575960036f652e02c15affa45e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-36-58_30874969/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -311.36491749897056, + 65.52803944173674, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -309.86491749897056, + 62.92996323038342, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -308.36491749897056, + 60.331887019030106, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -306.86491749897056, + 57.73381080767679, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -305.36491749897056, + 55.13573459632347, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -303.86491749897056, + 52.53765838497016, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -302.36491749897056, + 49.93958217361684, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -300.86491749897056, + 47.341505962263525, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.36491749897056, + 44.74342975091021, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.86491749897056, + 42.14535353955689, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -296.36491749897056, + 39.54727732820358, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -294.86491749897056, + 36.94920111685026, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.36491749897056, + 34.351124905496945, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -291.86491749897056, + 31.75304869414363, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -290.36491749897056, + 29.154972482790313, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -288.86491749897056, + 26.556896271436997, + 2.4607524804417693 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -288.86491749897056, + 26.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -286.26684128761724, + 25.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -283.6687650762639, + 23.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -281.0706888649106, + 22.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -278.4726126535573, + 20.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -275.874536442204, + 19.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -273.27646023085066, + 17.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -270.67838401949734, + 16.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -268.080307808144, + 14.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -265.4822315967907, + 13.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -262.8841553854374, + 11.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -260.2860791740841, + 10.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -257.68800296273076, + 8.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -255.08992675137745, + 7.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -252.49185054002413, + 5.556896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -249.89377432867082, + 4.056896271436997, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -247.2956981173175, + 2.5568962714369974, + 2.4607524804417693 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -247.2956981173175, + 2.5568962714369974, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -245.7956981173175, + -0.04117993991631863, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -244.2956981173175, + -2.6392561512696346, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -242.7956981173175, + -5.237332362622951, + 2.4607524804417693 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -241.2956981173175, + -7.835408573976267, + 2.4607524804417693 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-46-47_1736034190/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-46-47_1736034190/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..25b55bea4520241ecede154af6e5f3b46ca4eed9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-46-47_1736034190/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -980.3236366060091, + 446.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -980.3236366060091, + 443.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -980.3236366060091, + 440.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -980.3236366060091, + 437.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -980.3236366060091, + 434.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -980.3236366060091, + 431.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -980.3236366060091, + 428.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -980.3236366060091, + 425.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -980.3236366060091, + 422.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -980.3236366060091, + 419.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -980.3236366060091, + 416.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -980.3236366060091, + 413.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -980.3236366060091, + 410.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -980.3236366060091, + 407.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -980.3236366060091, + 404.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -980.3236366060091, + 401.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -980.3236366060091, + 398.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -980.3236366060091, + 395.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -980.3236366060091, + 392.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.3236366060091, + 389.8887637616934, + 4.642324988139595 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -980.3236366060091, + 389.8887637616934, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -981.8236366060091, + 387.29068755034007, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -983.3236366060091, + 384.69261133898675, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -984.8236366060091, + 382.09453512763343, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -986.3236366060091, + 379.4964589162801, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -987.8236366060091, + 376.8983827049268, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -989.3236366060091, + 374.3003064935735, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -990.8236366060091, + 371.70223028222017, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -992.3236366060091, + 369.10415407086685, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -993.8236366060091, + 366.50607785951354, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -995.3236366060091, + 363.9080016481602, + 4.642324988139595 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -996.8236366060091, + 361.3099254368069, + 4.642324988139595 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-52_1189852888/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-52_1189852888/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ab602bcdf9ea64f0034a8ca0ab14e340a783b52 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-48-52_1189852888/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 408.54895324406914, + 626.943304427867, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 410.04895324406914, + 624.3452282165138, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 411.54895324406914, + 621.7471520051604, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 413.04895324406914, + 619.149075793807, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.54895324406914, + 616.5509995824536, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 416.04895324406914, + 613.9529233711003, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 417.54895324406914, + 611.3548471597469, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 419.04895324406914, + 608.7567709483935, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 420.54895324406914, + 606.1586947370402, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 422.04895324406914, + 603.5606185256868, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 423.54895324406914, + 600.9625423143334, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 425.04895324406914, + 598.36446610298, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 426.54895324406914, + 595.7663898916267, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 428.04895324406914, + 593.1683136802733, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 429.54895324406914, + 590.5702374689199, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 431.04895324406914, + 587.9721612575665, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 432.54895324406914, + 585.3740850462132, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 434.04895324406914, + 582.7760088348598, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 435.54895324406914, + 580.1779326235064, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 437.04895324406914, + 577.579856412153, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 438.54895324406914, + 574.9817802007997, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 440.04895324406914, + 572.3837039894463, + -2.9533303858863857 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 440.04895324406914, + 572.3837039894463, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 440.04895324406914, + 569.3837039894463, + -2.9533303858863857 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 440.04895324406914, + 566.3837039894463, + -2.9533303858863857 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-50-14_298662559/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-50-14_298662559/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..af8ee430479ef7c18bb9d49d0dd3862f8bb86b1f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-50-14_298662559/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -760.124269971057, + 323.58454552040035, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -758.624269971057, + 320.98646930904704, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.124269971057, + 318.3883930976937, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -755.624269971057, + 315.7903168863404, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -754.124269971057, + 313.1922406749871, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -752.624269971057, + 310.5941644636338, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -751.124269971057, + 307.99608825228046, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -749.624269971057, + 305.39801204092714, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -748.124269971057, + 302.7999358295738, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -746.624269971057, + 300.2018596182205, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -745.124269971057, + 297.6037834068672, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -743.624269971057, + 295.0057071955139, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -742.124269971057, + 292.40763098416056, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -740.624269971057, + 289.80955477280725, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -739.124269971057, + 287.21147856145393, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -737.624269971057, + 284.6134023501006, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -736.124269971057, + 282.0153261387473, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -734.624269971057, + 279.417249927394, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -733.124269971057, + 276.81917371604067, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -731.624269971057, + 274.22109750468735, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -730.124269971057, + 271.62302129333403, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -728.624269971057, + 269.0249450819807, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -727.124269971057, + 266.4268688706274, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.624269971057, + 263.8287926592741, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -724.124269971057, + 261.23071644792077, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -722.624269971057, + 258.63264023656745, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.124269971057, + 256.03456402521414, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -719.624269971057, + 253.43648781386082, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -718.124269971057, + 250.8384116025075, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -716.624269971057, + 248.2403353911542, + 3.880742544917892 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -716.624269971057, + 248.2403353911542, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -714.0261937597036, + 246.7403353911542, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -711.4281175483502, + 245.2403353911542, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -708.8300413369968, + 243.7403353911542, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -706.2319651256435, + 242.2403353911542, + 3.880742544917892 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -703.6338889142901, + 240.7403353911542, + 3.880742544917892 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-54-22_2086888837/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-54-22_2086888837/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..22d13d3f9b7e8828787af66161ee7ee3b4e1e243 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-54-22_2086888837/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 272.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 275.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 278.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 281.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 284.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 287.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 290.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 293.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 296.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 299.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 302.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 305.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 308.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 311.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 314.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 317.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 320.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 323.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 326.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 326.74051612111555, + -100.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 329.33859233246886, + -99.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 331.9366685438222, + -97.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.5347447551755, + -96.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 337.1328209665288, + -94.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 339.7308971778821, + -93.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 342.32897338923544, + -91.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 344.92704960058876, + -90.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 347.5251258119421, + -88.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 350.1232020232954, + -87.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 352.7212782346487, + -85.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 355.319354446002, + -84.47646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 357.91743065735534, + -82.97646339786905, + 3.229951297640346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 360.51550686870866, + -81.47646339786905, + 3.229951297640346 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-56-7_1791559189/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-56-7_1791559189/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0aa2c90546d64b5d235530665c547c058fac97a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-56-7_1791559189/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -729.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -726.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -723.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -720.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -717.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -717.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -717.1167403349638, + -194.08398494249798, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -715.6167403349638, + -191.48590873114466, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.1167403349638, + -188.88783251979135, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -712.6167403349638, + -186.28975630843803, + -2.289261152094335 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -712.6167403349638, + -186.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -710.0186641236105, + -184.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -707.4205879122571, + -183.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -704.8225117009038, + -181.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -702.2244354895504, + -180.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -699.626359278197, + -178.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -697.0282830668436, + -177.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -694.4302068554903, + -175.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -691.8321306441369, + -174.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -689.2340544327835, + -172.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -686.6359782214302, + -171.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -684.0379020100768, + -169.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.4398257987234, + -168.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.84174958737, + -166.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.2436733760167, + -165.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -673.6455971646633, + -163.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -671.0475209533099, + -162.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -668.4494447419565, + -160.78975630843803, + -2.289261152094335 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -668.4494447419565, + -160.78975630843803, + -2.289261152094335 + ], + "type": "turn right", + "value": 30, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -668.4494447419565, + -160.78975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983083 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -665.8513685306032, + -162.28975630843803, + -2.289261152094335 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -663.2532923192498, + -163.78975630843803, + -2.289261152094335 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-24_146266066/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-24_146266066/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ecb458df2a5be396d5f004cb9e7649683853e1c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-57-24_146266066/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -735.246239075022, + 241.93899130869758, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -736.746239075022, + 239.34091509734426, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -738.246239075022, + 236.74283888599095, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -739.746239075022, + 234.14476267463763, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -741.246239075022, + 231.54668646328432, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -742.746239075022, + 228.948610251931, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -744.246239075022, + 226.35053404057768, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.746239075022, + 223.75245782922437, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -747.246239075022, + 221.15438161787105, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -748.746239075022, + 218.55630540651774, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -750.246239075022, + 215.95822919516442, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -751.746239075022, + 213.3601529838111, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -753.246239075022, + 210.7620767724578, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -754.746239075022, + 208.16400056110447, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -756.246239075022, + 205.56592434975116, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -757.746239075022, + 202.96784813839784, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -759.246239075022, + 200.36977192704452, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -760.746239075022, + 197.7716957156912, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -762.246239075022, + 195.1736195043379, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -763.746239075022, + 192.57554329298458, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.246239075022, + 189.97746708163126, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -766.746239075022, + 187.37939087027794, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -768.246239075022, + 184.78131465892463, + 2.373670751814398 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -768.246239075022, + 184.78131465892463, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -770.8443152863754, + 183.28131465892463, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -773.4423914977287, + 181.78131465892463, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -776.0404677090821, + 180.28131465892463, + 2.373670751814398 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -778.6385439204355, + 178.78131465892463, + 2.373670751814398 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-8-17_608113244/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-8-17_608113244/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0eb3d18efbadfc14576e69628ae6e137bcc490e3 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_10-8-17_608113244/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -162.24532883254076, + -415.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -164.84340504389408, + -417.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -167.4414812552474, + -418.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -170.0395574666007, + -420.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -172.63763367795403, + -421.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -175.23570988930734, + -423.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -177.83378610066066, + -424.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -180.43186231201398, + -426.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -183.0299385233673, + -427.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -185.6280147347206, + -429.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -188.22609094607392, + -430.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -190.82416715742724, + -432.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -193.42224336878056, + -433.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -196.02031958013387, + -435.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -198.6183957914872, + -436.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -201.2164720028405, + -438.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -203.81454821419382, + -439.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -206.41262442554714, + -441.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -209.01070063690045, + -442.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -211.60877684825377, + -444.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -214.20685305960708, + -445.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -216.8049292709604, + -447.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -219.40300548231372, + -448.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -222.00108169366703, + -450.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -224.59915790502035, + -451.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -227.19723411637366, + -453.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -229.79531032772698, + -454.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -232.3933865390803, + -456.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -234.9914627504336, + -457.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -237.58953896178693, + -459.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -240.18761517314024, + -460.7427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -242.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -242.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -245.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -248.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -251.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -254.78569138449356, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -257.7856913844936, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -260.7856913844936, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -263.7856913844936, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -266.7856913844936, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -269.7856913844936, + -462.2427434687559, + -0.14087677690579437 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-52_274000323/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-52_274000323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d2b89c45565c66d7d668247144e2f6634da735f2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-11-52_274000323/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -606.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -609.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -615.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -618.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -621.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -624.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -627.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -630.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -633.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -636.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -639.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -642.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -645.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -648.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -651.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -654.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -657.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -660.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -663.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -666.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -666.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "turn left", + "value": 30, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -666.9675056906551, + 250.69771328765472, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": 4.1887902047863905 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -668.4675056906551, + 248.0996370763014, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -669.9675056906551, + 245.5015608649481, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -671.4675056906551, + 242.90348465359477, + -1.429598847877402 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -671.4675056906551, + 242.90348465359477, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -674.0655819020085, + 241.40348465359477, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -676.6636581133619, + 239.90348465359477, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -679.2617343247152, + 238.40348465359477, + -1.429598847877402 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -681.8598105360686, + 236.90348465359477, + -1.429598847877402 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-15-59_541082060/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-15-59_541082060/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6e193f378ab2af9c2fd7b6fda65626ecf2df778 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-15-59_541082060/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 372.70190090345136, + 614.5629165159727, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.20190090345136, + 611.9648403046194, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 375.70190090345136, + 609.366764093266, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 377.20190090345136, + 606.7686878819127, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 378.70190090345136, + 604.1706116705593, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 380.20190090345136, + 601.5725354592059, + 4.3588457782012355 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 380.20190090345136, + 601.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 382.7999771148047, + 600.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 385.398053326158, + 598.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 387.9961295375113, + 597.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 390.5942057488646, + 595.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 393.19228196021794, + 594.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 395.79035817157126, + 592.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 398.3884343829246, + 591.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 400.9865105942779, + 589.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 403.5845868056312, + 588.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 406.1826630169845, + 586.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 408.78073922833784, + 585.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 411.37881543969115, + 583.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 413.97689165104447, + 582.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 416.5749678623978, + 580.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 419.1730440737511, + 579.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 421.7711202851044, + 577.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 424.36919649645773, + 576.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 426.96727270781105, + 574.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 429.56534891916436, + 573.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 432.1634251305177, + 571.5725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 434.761501341871, + 570.0725354592059, + 4.3588457782012355 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 434.761501341871, + 570.0725354592059, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 436.261501341871, + 567.4744592478526, + 4.3588457782012355 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 437.761501341871, + 564.8763830364992, + 4.3588457782012355 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 439.84950744628907, + 563.3985629272461, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-21-20_1101354279/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-21-20_1101354279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b5cedfab24f998942006425789237ef3f2d4e0e4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-21-20_1101354279/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 85.71230098647146, + 211.6111015530115, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 84.21230098647146, + 209.0130253416582, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 82.71230098647146, + 206.41494913030488, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 81.21230098647146, + 203.81687291895156, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 79.71230098647146, + 201.21879670759824, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 78.21230098647146, + 198.62072049624493, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 76.71230098647146, + 196.0226442848916, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 75.21230098647146, + 193.4245680735383, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 73.71230098647146, + 190.82649186218498, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 72.21230098647146, + 188.22841565083166, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 70.71230098647146, + 185.63033943947835, + -4.154421279267372 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 70.71230098647146, + 185.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 68.11422477511815, + 184.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 65.51614856376483, + 182.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 62.918072352411514, + 181.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 60.3199961410582, + 179.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 57.72191992970488, + 178.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 55.123843718351566, + 176.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 52.52576750699825, + 175.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 49.927691295644934, + 173.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 47.32961508429162, + 172.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 44.7315388729383, + 170.63033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 42.133462661584986, + 169.13033943947835, + -4.154421279267372 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 42.133462661584986, + 169.13033943947835, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 40.633462661584986, + 166.53226322812503, + -4.154421279267372 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 39.133462661584986, + 163.93418701677172, + -4.154421279267372 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-24-15_1201885508/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-24-15_1201885508/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5d8c2d47650028a166c35a93be010ca122c37d41 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-24-15_1201885508/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -269.95567039260936, + -167.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -272.5537466039627, + -165.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -275.151822815316, + -164.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -277.7498990266693, + -162.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -280.3479752380226, + -161.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -282.94605144937594, + -159.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -285.54412766072926, + -158.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -288.1422038720826, + -156.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -290.7402800834359, + -155.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -293.3383562947892, + -153.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -295.9364325061425, + -152.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -298.53450871749584, + -150.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -301.13258492884916, + -149.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -303.73066114020247, + -147.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -306.3287373515558, + -146.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -308.9268135629091, + -144.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -311.5248897742624, + -143.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -314.12296598561574, + -141.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -316.72104219696905, + -140.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -319.31911840832237, + -138.55203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -321.9171946196757, + -137.05203052568467, + -3.1259770256429324 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -324.515270831029, + -135.55203052568467, + -3.1259770256429324 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-50_19494010/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-50_19494010/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc71738eed266f8d583d6ef93a62301096adb923 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-25-50_19494010/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -580.1074379193535, + 83.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -582.7055141307069, + 81.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -585.3035903420603, + 80.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -587.9016665534136, + 78.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -590.499742764767, + 77.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -593.0978189761204, + 75.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.6958951874738, + 74.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.2939713988271, + 72.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -600.8920476101805, + 71.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -603.4901238215339, + 69.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -606.0882000328872, + 68.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -608.6862762442406, + 66.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -611.284352455594, + 65.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.8824286669474, + 63.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -616.4805048783007, + 62.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.0785810896541, + 60.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -621.6766573010075, + 59.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -624.2747335123609, + 57.99316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -626.8728097237142, + 56.49316414201459, + -2.0195751965425734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -626.8728097237142, + 56.49316414201459, + -2.0195751965425734 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -626.8728097237142, + 56.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.570796326794906 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -626.8728097237142, + 53.49316414201459, + -2.0195751965425734 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -626.8728097237142, + 50.49316414201459, + -2.0195751965425734 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-30-4_1386847845/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-30-4_1386847845/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2773b9fccfeb994126f69d29d132bd9a32fb2f7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-30-4_1386847845/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -237.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -240.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -243.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -246.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -249.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -252.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -255.30187290235568, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -258.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -261.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -264.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -267.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -270.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -273.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -276.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -279.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -285.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -288.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -291.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -294.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -297.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -300.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -303.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -306.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -309.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -312.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -315.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -315.3018729023557, + -129.82052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -317.899949113709, + -131.32052168453805, + -3.5251914099436936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -320.4980253250623, + -132.82052168453805, + -3.5251914099436936 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-38-21_207222095/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-38-21_207222095/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..977a0da35f2801a30f2968285a8f6d842f22c1d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-38-21_207222095/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -708.6894086077065, + 170.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -708.6894086077065, + 173.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -708.6894086077065, + 176.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -708.6894086077065, + 179.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -708.6894086077065, + 182.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -708.6894086077065, + 185.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -708.6894086077065, + 188.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -708.6894086077065, + 191.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -708.6894086077065, + 194.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -708.6894086077065, + 197.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -708.6894086077065, + 200.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -708.6894086077065, + 203.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -708.6894086077065, + 206.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -708.6894086077065, + 209.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -708.6894086077065, + 212.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.6894086077065, + 215.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -708.6894086077065, + 218.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -708.6894086077065, + 221.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -708.6894086077065, + 224.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -708.6894086077065, + 227.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -708.6894086077065, + 230.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -708.6894086077065, + 233.50348183174825, + -0.8230108370814362 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -708.6894086077065, + 236.50348183174825, + -0.8230108370814362 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-4-40_1634628762/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-4-40_1634628762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..298ab8f22f4ccb146c363f4466345fd016aa30d8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-4-40_1634628762/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -200.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -197.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -191.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -188.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -185.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -179.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -176.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -173.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -170.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -167.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -164.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -158.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -155.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -152.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -149.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -146.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -143.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -140.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -137.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -134.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -128.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -125.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -122.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -122.73527203965568, + 375.0921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -120.13719582830237, + 376.5921122010551, + -3.8598633780581464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -117.53911961694905, + 378.0921122010551, + -3.8598633780581464 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-41-28_775094909/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-41-28_775094909/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4eaa96f78a2e496ada410014b416c27947654ece --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-41-28_775094909/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -845.5063642342461, + 279.7316834397818, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.0063642342461, + 277.1336072284285, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -842.5063642342461, + 274.5355310170752, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -841.0063642342461, + 271.93745480572187, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -839.5063642342461, + 269.33937859436855, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -838.0063642342461, + 266.74130238301524, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -836.5063642342461, + 264.1432261716619, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -835.0063642342461, + 261.5451499603086, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -833.5063642342461, + 258.9470737489553, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -832.0063642342461, + 256.348997537602, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -830.5063642342461, + 253.75092132624866, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -829.0063642342461, + 251.15284511489534, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -827.5063642342461, + 248.55476890354203, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -826.0063642342461, + 245.9566926921887, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -824.5063642342461, + 243.3586164808354, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -823.0063642342461, + 240.76054026948208, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -821.5063642342461, + 238.16246405812876, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -820.0063642342461, + 235.56438784677545, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -818.5063642342461, + 232.96631163542213, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -817.0063642342461, + 230.3682354240688, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -815.5063642342461, + 227.7701592127155, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -814.0063642342461, + 225.17208300136218, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -812.5063642342461, + 222.57400679000887, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -811.0063642342461, + 219.97593057865555, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -809.5063642342461, + 217.37785436730223, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -808.0063642342461, + 214.77977815594892, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -806.5063642342461, + 212.1817019445956, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -805.0063642342461, + 209.5836257332423, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -803.5063642342461, + 206.98554952188897, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -802.0063642342461, + 204.38747331053565, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -800.5063642342461, + 201.78939709918234, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -799.0063642342461, + 199.19132088782902, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -797.5063642342461, + 196.5932446764757, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -796.0063642342461, + 193.9951684651224, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -794.5063642342461, + 191.39709225376907, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -793.0063642342461, + 188.79901604241576, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -791.5063642342461, + 186.20093983106244, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -790.0063642342461, + 183.60286361970913, + 0.39476212648443454 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -790.0063642342461, + 183.60286361970913, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -787.4082880228927, + 182.10286361970913, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -784.8102118115394, + 180.60286361970913, + 0.39476212648443454 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -782.212135600186, + 179.10286361970913, + 0.39476212648443454 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-44-2_824215546/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-44-2_824215546/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ba046ef7d0ab4f8f214492012f6cfdaf65afad8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-44-2_824215546/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -753.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -750.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -747.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -744.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -741.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -738.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -735.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -732.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -729.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -726.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -723.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -720.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -717.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -714.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -711.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -705.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -702.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -702.494528269726, + 264.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -699.8964520583727, + 263.45780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -697.2983758470193, + 261.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -694.7002996356659, + 260.45780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -692.1022234243126, + 258.95780688711415, + -3.4487824416635666 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -689.5041472129592, + 257.45780688711415, + -3.4487824416635666 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-50-54_1581367423/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-50-54_1581367423/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c551baf7ee7d8adbca1e42a9fcdeac6b37c2e88 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-50-54_1581367423/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -451.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -448.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -445.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -442.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -439.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -436.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -433.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -430.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -427.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -424.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -421.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -418.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -415.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -412.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -409.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -406.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -403.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -400.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -400.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -400.1559463790874, + -337.40926248622776, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -398.6559463790874, + -340.0073386975811, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -397.1559463790874, + -342.6054149089344, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -395.6559463790874, + -345.2034911202877, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -394.1559463790874, + -347.801567331641, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -392.6559463790874, + -350.39964354299434, + 3.10258176208346 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -392.6559463790874, + -350.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -390.0578701677341, + -351.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -387.4597939563808, + -353.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -384.8617177450275, + -354.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -382.26364153367416, + -356.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -379.66556532232084, + -357.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -377.06748911096753, + -359.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -374.4694128996142, + -360.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -371.8713366882609, + -362.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -369.2732604769076, + -363.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -366.67518426555426, + -365.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -364.07710805420095, + -366.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -361.47903184284763, + -368.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -358.8809556314943, + -369.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -356.282879420141, + -371.39964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -353.6848032087877, + -372.89964354299434, + 3.10258176208346 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -351.08672699743437, + -374.39964354299434, + 3.10258176208346 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-52-42_1036772582/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-52-42_1036772582/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..586b33a1050925d4d3c041a7542ac6ce0ea19dbe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-52-42_1036772582/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -845.517178682956, + -58.35023734098428, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -844.017178682956, + -55.75216112963096, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -842.517178682956, + -53.15408491827765, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -841.017178682956, + -50.55600870692433, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -839.517178682956, + -47.957932495571015, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -838.017178682956, + -45.3598562842177, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -836.517178682956, + -42.76178007286438, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -835.017178682956, + -40.16370386151107, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -833.517178682956, + -37.56562765015775, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -832.017178682956, + -34.967551438804435, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -830.517178682956, + -32.36947522745112, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -829.017178682956, + -29.771399016097803, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -827.517178682956, + -27.173322804744487, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -826.017178682956, + -24.57524659339117, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -824.517178682956, + -21.977170382037855, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -823.017178682956, + -19.37909417068454, + -2.5935441871318683 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -823.017178682956, + -19.37909417068454, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -823.017178682956, + -16.37909417068454, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -823.017178682956, + -13.379094170684539, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -823.017178682956, + -10.379094170684539, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -823.017178682956, + -7.379094170684539, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -823.017178682956, + -4.379094170684539, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -823.017178682956, + -1.3790941706845388, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -823.017178682956, + 1.6209058293154612, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -823.017178682956, + 4.620905829315461, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -823.017178682956, + 7.620905829315461, + -2.5935441871318683 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -823.017178682956, + 10.620905829315461, + -2.5935441871318683 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-58-42_688347869/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-58-42_688347869/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8c562beb3f0df98c4f071e063267f64e8dc3912c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-58-42_688347869/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -527.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -524.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -521.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -518.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -515.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -512.8228263461835, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -509.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -506.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -503.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -500.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -497.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -494.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -491.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -488.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -485.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -482.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -479.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -476.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -473.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -470.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -467.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -464.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -461.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -458.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -455.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -452.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -452.82282634618355, + -164.61089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -450.22475013483023, + -163.11089011948067, + -2.5825747841923596 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -447.6266739234769, + -161.61089011948067, + -2.5825747841923596 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-8-59_324591026/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-8-59_324591026/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a49307ab06d02b7b1c56b17e4c3cc13aa04a2c36 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_11-8-59_324591026/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -693.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -696.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -699.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -702.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -708.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -711.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -717.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -720.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -723.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -726.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -729.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -732.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -732.0383800743847, + 155.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -734.636456285738, + 156.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -737.2345324970913, + 158.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -739.8326087084447, + 159.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -742.4306849197981, + 161.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.0287611311514, + 162.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -747.6268373425048, + 164.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -750.2249135538582, + 165.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.8229897652116, + 167.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -755.4210659765649, + 168.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -758.0191421879183, + 170.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -760.6172183992717, + 171.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -763.215294610625, + 173.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -765.8133708219784, + 174.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -768.4114470333318, + 176.29249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -771.0095232446852, + 177.79249287859253, + 3.8433762916530476 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -771.0095232446852, + 177.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -774.0095232446852, + 177.79249287859253, + 3.8433762916530476 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -777.0095232446852, + 177.79249287859253, + 3.8433762916530476 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-14-50_657129085/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-14-50_657129085/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..089b06d97b510cfe2726de679829ae7e01c56fc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-14-50_657129085/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -416.30291512694095, + -263.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -416.30291512694095, + -260.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -416.30291512694095, + -257.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -416.30291512694095, + -254.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -416.30291512694095, + -251.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -416.30291512694095, + -248.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -416.30291512694095, + -245.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -416.30291512694095, + -242.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -416.30291512694095, + -239.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -416.30291512694095, + -236.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -416.30291512694095, + -233.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -416.30291512694095, + -230.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -416.30291512694095, + -227.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -416.30291512694095, + -224.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -416.30291512694095, + -221.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -416.30291512694095, + -218.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -416.30291512694095, + -215.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -416.30291512694095, + -212.55546969406635, + -2.1824121677648662 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -416.30291512694095, + -212.55546969406635, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -414.80291512694095, + -209.95739348271303, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -413.30291512694095, + -207.3593172713597, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -411.80291512694095, + -204.7612410600064, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -410.30291512694095, + -202.16316484865308, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -408.80291512694095, + -199.56508863729977, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -407.30291512694095, + -196.96701242594645, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -405.80291512694095, + -194.36893621459313, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -404.30291512694095, + -191.77086000323982, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -402.80291512694095, + -189.1727837918865, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -401.30291512694095, + -186.5747075805332, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -399.80291512694095, + -183.97663136917987, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -398.30291512694095, + -181.37855515782655, + -2.1824121677648662 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -396.80291512694095, + -178.78047894647324, + -2.1824121677648662 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-19-29_662229153/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-19-29_662229153/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9f0c8410fcbaf5e05d4b652ea4bd4d1c99664374 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-19-29_662229153/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 231.75214500383123, + -223.10432191074915, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 230.25214500383123, + -225.70239812210247, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 228.75214500383123, + -228.30047433345578, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 227.25214500383123, + -230.8985505448091, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 225.75214500383123, + -233.4966267561624, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 224.25214500383123, + -236.09470296751573, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 222.75214500383123, + -238.69277917886905, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 221.25214500383123, + -241.29085539022236, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 219.75214500383123, + -243.88893160157568, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 218.25214500383123, + -246.487007812929, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 216.75214500383123, + -249.0850840242823, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 215.25214500383123, + -251.68316023563563, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 213.75214500383123, + -254.28123644698894, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 212.25214500383123, + -256.87931265834226, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 210.75214500383123, + -259.4773888696956, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 209.25214500383123, + -262.0754650810489, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 207.75214500383123, + -264.6735412924022, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 206.25214500383123, + -267.2716175037555, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 204.75214500383123, + -269.86969371510884, + -1.1780522172787404 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 204.75214500383123, + -269.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.15406879247791, + -271.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 199.5559925811246, + -272.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 196.95791636977128, + -274.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 194.35984015841797, + -275.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 191.76176394706465, + -277.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 189.16368773571133, + -278.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 186.56561152435802, + -280.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 183.9675353130047, + -281.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 181.3694591016514, + -283.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 178.77138289029807, + -284.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 176.17330667894475, + -286.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 173.57523046759144, + -287.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 170.97715425623812, + -289.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 168.3790780448848, + -290.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 165.7810018335315, + -292.36969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 163.18292562217817, + -293.86969371510884, + -1.1780522172787404 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 163.18292562217817, + -293.86969371510884, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 161.68292562217817, + -296.46776992646215, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 160.18292562217817, + -299.06584613781547, + -1.1780522172787404 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 158.68292562217817, + -301.6639223491688, + -1.1780522172787404 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-21-21_1192376263/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-21-21_1192376263/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..509351ab90e3eeb5d2ebb12a25909a9eb31201a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-21-21_1192376263/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -791.8574638136848, + 176.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -789.2593876023316, + 174.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -786.6613113909782, + 173.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -784.0632351796248, + 171.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -781.4651589682715, + 170.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -778.8670827569181, + 168.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -776.2690065455647, + 167.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -773.6709303342113, + 165.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -771.072854122858, + 164.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -768.4747779115046, + 162.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -765.8767017001512, + 161.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -763.2786254887978, + 159.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -760.6805492774445, + 158.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -758.0824730660911, + 156.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.4843968547377, + 155.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -752.8863206433844, + 153.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -750.288244432031, + 152.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -747.6901682206776, + 150.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.0920920093242, + 149.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -742.4940157979709, + 147.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.8959395866175, + 146.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.2978633752641, + 144.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -734.6997871639107, + 143.16643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -732.1017109525574, + 141.66643258964223, + 3.342121211932575 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.1017109525574, + 141.66643258964223, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196588 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -730.6017109525574, + 139.0683563782889, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -729.1017109525574, + 136.4702801669356, + 3.342121211932575 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.6017109525574, + 133.87220395558228, + 3.342121211932575 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-24-5_1553113606/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-24-5_1553113606/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0b9ae18f8da84f474707a26efaa36c6f019c58c9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-24-5_1553113606/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -862.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -865.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -868.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -871.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -874.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -877.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -880.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -883.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -886.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -889.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -892.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -895.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -898.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -901.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -904.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -907.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -910.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -913.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -916.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -919.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -922.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -925.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -928.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -931.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -934.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -937.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -940.3230894796568, + 335.25459761883735, + 2.5299493611411155 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-3-48_939671752/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-3-48_939671752/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c0daaf6a33b978cb6ce434a6348275c6d065bd5e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-3-48_939671752/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -586.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -589.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -592.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -595.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -598.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -601.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -604.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -607.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -610.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -613.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -616.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -619.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -622.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -625.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -628.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -628.0739300434378, + 66.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -630.6720062547911, + 68.3387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -633.2700824661445, + 69.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -635.8681586774978, + 71.3387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -638.4662348888512, + 72.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -641.0643111002046, + 74.3387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -643.662387311558, + 75.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -646.2604635229113, + 77.3387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -648.8585397342647, + 78.8387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -651.4566159456181, + 80.3387853132727, + 2.1849426847278943 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -654.0546921569714, + 81.8387853132727, + 2.1849426847278943 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-32-27_1429612496/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-32-27_1429612496/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..617174cd17ec09dabe49f65b95f790d1142f2779 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-32-27_1429612496/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -763.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -760.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -757.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -754.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -751.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -748.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -742.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -739.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -736.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -733.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -730.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -727.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -724.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -721.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -718.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -715.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -712.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -709.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -706.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -703.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -691.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -688.2427081354015, + 258.41845646807525, + -3.100063206201926 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-33-51_98760957/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-33-51_98760957/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f6eed1728c3e285b4240c553548364980a888485 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-33-51_98760957/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -694.8623606597893, + 46.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -694.8623606597893, + 49.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -694.8623606597893, + 52.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.8623606597893, + 55.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -694.8623606597893, + 58.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -694.8623606597893, + 61.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -694.8623606597893, + 64.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -694.8623606597893, + 67.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -694.8623606597893, + 70.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -694.8623606597893, + 73.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -694.8623606597893, + 76.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -694.8623606597893, + 79.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.8623606597893, + 82.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -694.8623606597893, + 85.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -694.8623606597893, + 88.83062282486712, + -4.57250486605902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -694.8623606597893, + 88.83062282486712, + -4.57250486605902 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -694.8623606597893, + 88.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -692.264284448436, + 90.33062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -689.6662082370826, + 91.83062282486712, + -4.57250486605902 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -689.6662082370826, + 91.83062282486712, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.1662082370826, + 94.42869903622044, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -686.6662082370826, + 97.02677524757375, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -685.1662082370826, + 99.62485145892707, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -683.6662082370826, + 102.22292767028038, + -4.57250486605902 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -682.1662082370826, + 104.8210038816337, + -4.57250486605902 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-36-41_1613947041/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-36-41_1613947041/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0f2eab77af35e4ce198391bdc94745077b696ca --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-36-41_1613947041/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -909.103341219466, + 272.5408214269558, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -910.603341219466, + 275.1388976383091, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -912.103341219466, + 277.73697384966243, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -913.603341219466, + 280.33505006101575, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -915.103341219466, + 282.93312627236907, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -916.603341219466, + 285.5312024837224, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -918.103341219466, + 288.1292786950757, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -919.603341219466, + 290.727354906429, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -921.103341219466, + 293.32543111778233, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -922.603341219466, + 295.92350732913565, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -924.103341219466, + 298.52158354048896, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -925.603341219466, + 301.1196597518423, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -927.103341219466, + 303.7177359631956, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -928.603341219466, + 306.3158121745489, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -930.103341219466, + 308.9138883859022, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -931.603341219466, + 311.51196459725554, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -933.103341219466, + 314.11004080860886, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -934.603341219466, + 316.7081170199622, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -936.103341219466, + 319.3061932313155, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -937.603341219466, + 321.9042694426688, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -939.103341219466, + 324.5023456540221, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -940.603341219466, + 327.10042186537544, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -942.103341219466, + 329.69849807672875, + -2.6920947973087523 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.103341219466, + 329.69849807672875, + -2.6920947973087523 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -942.103341219466, + 332.69849807672875, + -2.6920947973087523 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-43_1851876699/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-43_1851876699/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..16b83bcdd2c688f48cd27b0d4a620acea870b8b6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-37-43_1851876699/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -245.88253941106825, + -324.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -248.48061562242157, + -326.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -251.07869183377488, + -327.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -253.6767680451282, + -329.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -256.2748442564815, + -330.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -258.87292046783483, + -332.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -261.47099667918815, + -333.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -264.06907289054146, + -335.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -266.6671491018948, + -336.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -269.2652253132481, + -338.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -271.8633015246014, + -339.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -274.4613777359547, + -341.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -277.05945394730804, + -342.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -279.65753015866136, + -344.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -282.2556063700147, + -345.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -284.853682581368, + -347.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -287.4517587927213, + -348.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -290.0498350040746, + -350.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -292.64791121542794, + -351.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -295.24598742678126, + -353.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -297.84406363813457, + -354.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -300.4421398494879, + -356.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -303.0402160608412, + -357.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -305.6382922721945, + -359.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -308.23636848354784, + -360.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -310.83444469490115, + -362.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -313.43252090625447, + -363.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -316.0305971176078, + -365.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -318.6286733289611, + -366.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -321.2267495403144, + -368.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -323.82482575166773, + -369.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -326.42290196302105, + -371.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -329.02097817437436, + -372.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -331.6190543857277, + -374.20017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -334.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -334.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -337.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -340.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -343.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -346.217130597081, + -375.70017316093794, + 4.303325899765598 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-32_911622560/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-32_911622560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..37b11341e55f82b1004c90fcc0743bdd50969610 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-4-32_911622560/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 88.57042335945619, + -122.60678936518713, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 87.07042335945619, + -120.00871315383381, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 85.57042335945619, + -117.4106369424805, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 84.07042335945619, + -114.81256073112718, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 82.57042335945619, + -112.21448451977386, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 81.07042335945619, + -109.61640830842055, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 79.57042335945619, + -107.01833209706723, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 78.07042335945619, + -104.42025588571391, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 76.57042335945619, + -101.8221796743606, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 75.07042335945619, + -99.22410346300728, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 73.57042335945619, + -96.62602725165397, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 72.07042335945619, + -94.02795104030065, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 70.57042335945619, + -91.42987482894733, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.07042335945619, + -88.83179861759402, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 67.57042335945619, + -86.2337224062407, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 66.07042335945619, + -83.63564619488739, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 64.57042335945619, + -81.03756998353407, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 63.070423359456186, + -78.43949377218075, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 61.570423359456186, + -75.84141756082744, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 60.070423359456186, + -73.24334134947412, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 58.570423359456186, + -70.6452651381208, + 3.482997509049353 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.570423359456186, + -70.6452651381208, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.570423359456186, + -67.6452651381208, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.570423359456186, + -64.6452651381208, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 58.570423359456186, + -61.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 58.570423359456186, + -58.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 58.570423359456186, + -55.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.570423359456186, + -52.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 58.570423359456186, + -49.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.570423359456186, + -46.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 58.570423359456186, + -43.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 58.570423359456186, + -40.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 58.570423359456186, + -37.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 58.570423359456186, + -34.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.570423359456186, + -31.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 58.570423359456186, + -28.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 58.570423359456186, + -25.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 58.570423359456186, + -22.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 58.570423359456186, + -19.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 58.570423359456186, + -16.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 58.570423359456186, + -13.645265138120806, + 3.482997509049353 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 58.570423359456186, + -10.645265138120806, + 3.482997509049353 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-0_65509192/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-0_65509192/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..94539f60cb5045ddf25e19663b0b7c03d4613c60 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-40-0_65509192/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 232.59361205032772, + -209.71451182030376, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 231.09361205032772, + -212.31258803165707, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 229.59361205032772, + -214.9106642430104, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 228.09361205032772, + -217.5087404543637, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 226.59361205032772, + -220.10681666571702, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 225.09361205032772, + -222.70489287707034, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 223.59361205032772, + -225.30296908842365, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 222.09361205032772, + -227.90104529977697, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 220.59361205032772, + -230.49912151113028, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 219.09361205032772, + -233.0971977224836, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 217.59361205032772, + -235.69527393383692, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 216.09361205032772, + -238.29335014519023, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 214.59361205032772, + -240.89142635654355, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 213.09361205032772, + -243.48950256789686, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 211.59361205032772, + -246.08757877925018, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 210.09361205032772, + -248.6856549906035, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 208.59361205032772, + -251.2837312019568, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 207.09361205032772, + -253.88180741331013, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 205.59361205032772, + -256.47988362466344, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 204.09361205032772, + -259.07795983601676, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.59361205032772, + -261.6760360473701, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 201.09361205032772, + -264.2741122587234, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 199.59361205032772, + -266.8721884700767, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 198.09361205032772, + -269.47026468143, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 196.59361205032772, + -272.06834089278334, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 195.09361205032772, + -274.66641710413666, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 193.59361205032772, + -277.26449331549, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 192.09361205032772, + -279.8625695268433, + 0.9641890326138949 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 192.09361205032772, + -279.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 189.4955358389744, + -281.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 186.8974596276211, + -282.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 184.29938341626777, + -284.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 181.70130720491446, + -285.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 179.10323099356114, + -287.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 176.50515478220782, + -288.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 173.9070785708545, + -290.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 171.3090023595012, + -291.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 168.71092614814788, + -293.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 166.11284993679456, + -294.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 163.51477372544124, + -296.3625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 160.91669751408793, + -297.8625695268433, + 0.9641890326138949 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 158.3186213027346, + -299.3625695268433, + 0.9641890326138949 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-42-17_1165339609/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-42-17_1165339609/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..721cbab3349f52bd9c99da6a63e36a316c2dc9ea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-42-17_1165339609/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 194.07911439813105, + 696.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 194.07911439813105, + 699.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 194.07911439813105, + 702.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 194.07911439813105, + 705.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 194.07911439813105, + 708.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 194.07911439813105, + 711.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 194.07911439813105, + 714.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 194.07911439813105, + 717.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 194.07911439813105, + 720.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 194.07911439813105, + 723.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 194.07911439813105, + 726.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 194.07911439813105, + 729.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 194.07911439813105, + 732.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 194.07911439813105, + 735.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 194.07911439813105, + 738.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 194.07911439813105, + 741.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 194.07911439813105, + 744.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 194.07911439813105, + 747.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 194.07911439813105, + 750.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 194.07911439813105, + 753.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 194.07911439813105, + 756.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.07911439813105, + 759.1427329904016, + 2.4154478121534133 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 194.07911439813105, + 759.1427329904016, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 195.57911439813105, + 761.7408092017549, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 197.07911439813105, + 764.3388854131083, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 198.57911439813105, + 766.9369616244617, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 200.07911439813105, + 769.535037835815, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 201.57911439813105, + 772.1331140471684, + 2.4154478121534133 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 203.07911439813105, + 774.7311902585218, + 2.4154478121534133 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-18_762000549/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-18_762000549/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5aaac2230341acb9180d90b0329e606e80b9b60 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-43-18_762000549/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 168.79479792214264, + 619.7658561866929, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 170.29479792214264, + 622.3639323980462, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 171.79479792214264, + 624.9620086093996, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 173.29479792214264, + 627.560084820753, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 174.79479792214264, + 630.1581610321064, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 176.29479792214264, + 632.7562372434597, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 177.79479792214264, + 635.3543134548131, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 179.29479792214264, + 637.9523896661665, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 180.79479792214264, + 640.5504658775199, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 182.29479792214264, + 643.1485420888732, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 183.79479792214264, + 645.7466183002266, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 185.29479792214264, + 648.34469451158, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 186.79479792214264, + 650.9427707229333, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 188.29479792214264, + 653.5408469342867, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 189.79479792214264, + 656.1389231456401, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 191.29479792214264, + 658.7369993569935, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 192.79479792214264, + 661.3350755683468, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 194.29479792214264, + 663.9331517797002, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 195.79479792214264, + 666.5312279910536, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 197.29479792214264, + 669.129304202407, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 198.79479792214264, + 671.7273804137603, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 200.29479792214264, + 674.3254566251137, + 0.39746662808053035 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 200.29479792214264, + 674.3254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 202.89287413349595, + 675.8254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 205.49095034484927, + 677.3254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 208.08902655620258, + 678.8254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 210.6871027675559, + 680.3254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 213.28517897890922, + 681.8254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 215.88325519026253, + 683.3254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 218.48133140161585, + 684.8254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 221.07940761296916, + 686.3254566251137, + 0.39746662808053035 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 223.67748382432248, + 687.8254566251137, + 0.39746662808053035 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-47-14_535187618/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-47-14_535187618/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0bbe692f1dfee92bd37566cfa2ead75193c20842 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-47-14_535187618/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -487.87181248462684, + -348.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -490.46988869598016, + -347.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -493.0679649073335, + -345.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -495.6660411186868, + -344.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -498.2641173300401, + -342.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -500.8621935413934, + -341.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -503.46026975274674, + -339.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -506.05834596410006, + -338.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -508.6564221754534, + -336.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -511.2544983868067, + -335.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -513.85257459816, + -333.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -516.4506508095133, + -332.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -519.0487270208666, + -330.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -521.64680323222, + -329.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -524.2448794435734, + -327.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -526.8429556549268, + -326.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -529.4410318662801, + -324.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -532.0391080776335, + -323.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -534.6371842889869, + -321.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -537.2352605003402, + -320.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -539.8333367116936, + -318.6247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -542.431412923047, + -317.1247523690895, + 1.2400639448245157 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -545.0294891344004, + -315.6247523690895, + 1.2400639448245157 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-30_231606753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-30_231606753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..80bf766d1c1496fdfdc220f07410dafebe59cbe2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-48-30_231606753/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -860.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -857.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -854.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -851.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -848.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -845.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -845.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -845.1337461300526, + 96.85660699841038, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -843.6337461300526, + 94.25853078705707, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -842.1337461300526, + 91.66045457570375, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -840.6337461300526, + 89.06237836435044, + -3.5185309601223986 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -840.6337461300526, + 89.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -838.0356699186993, + 87.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -835.437593707346, + 86.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -832.8395174959926, + 84.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -830.2414412846392, + 83.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -827.6433650732858, + 81.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -825.0452888619325, + 80.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -822.4472126505791, + 78.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -819.8491364392257, + 77.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -817.2510602278724, + 75.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -814.652984016519, + 74.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -812.0549078051656, + 72.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -809.4568315938122, + 71.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -806.8587553824589, + 69.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -804.2606791711055, + 68.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -801.6626029597521, + 66.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -799.0645267483987, + 65.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -796.4664505370454, + 63.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -793.868374325692, + 62.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -791.2702981143386, + 60.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -788.6722219029853, + 59.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -786.0741456916319, + 57.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -783.4760694802785, + 56.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -780.8779932689251, + 54.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -778.2799170575718, + 53.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -775.6818408462184, + 51.56237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -773.083764634865, + 50.06237836435044, + -3.5185309601223986 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -770.4856884235116, + 48.56237836435044, + -3.5185309601223986 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-52-5_1452362972/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-52-5_1452362972/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..40a4154762b00fbac010fb14d65c2cc7a0a7cefb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-52-5_1452362972/pose.jsonl @@ -0,0 +1,586 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -431.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -428.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -425.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -422.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -419.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -416.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -413.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -410.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -410.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -410.1340003881028, + -81.12512221836073, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -408.6340003881028, + -83.72319842971405, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.1340003881028, + -86.32127464106736, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -405.6340003881028, + -88.91935085242068, + -4.28478197558673 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -405.6340003881028, + -88.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -403.03592417674946, + -90.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -400.43784796539614, + -91.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -397.83977175404283, + -93.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -395.2416955426895, + -94.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -392.6436193313362, + -96.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -390.0455431199829, + -97.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -387.44746690862956, + -99.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -384.84939069727625, + -100.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -382.25131448592293, + -102.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -379.6532382745696, + -103.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -377.0551620632163, + -105.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -374.457085851863, + -106.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -371.85900964050967, + -108.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -369.26093342915635, + -109.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -366.66285721780304, + -111.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -364.0647810064497, + -112.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -361.4667047950964, + -114.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -358.8686285837431, + -115.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -356.2705523723898, + -117.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -353.67247616103646, + -118.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -351.07439994968314, + -120.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -348.4763237383298, + -121.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -345.8782475269765, + -123.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -343.2801713156232, + -124.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -340.6820951042699, + -126.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -338.08401889291656, + -127.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -335.48594268156324, + -129.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -332.88786647020993, + -130.91935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -330.2897902588566, + -132.41935085242068, + -4.28478197558673 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -327.6917140475033, + -133.91935085242068, + -4.28478197558673 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-30_1672289094/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-30_1672289094/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..04a937c6edd0641e996b95754e7da7c3a7b9377e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-55-30_1672289094/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 149.9408702872658, + 19.51017494385121, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 147.34279407591248, + 18.01017494385121, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 144.74471786455916, + 16.51017494385121, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 142.14664165320585, + 15.010174943851212, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 139.54856544185253, + 13.510174943851212, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 136.95048923049922, + 12.010174943851212, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 134.3524130191459, + 10.510174943851212, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 131.75433680779258, + 9.010174943851212, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 129.15626059643927, + 7.5101749438512115, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 126.55818438508595, + 6.0101749438512115, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 123.96010817373264, + 4.5101749438512115, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 121.36203196237932, + 3.0101749438512115, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.763955751026, + 1.5101749438512118, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 116.16587953967269, + 0.010174943851211982, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 113.56780332831937, + -1.4898250561487878, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 110.96972711696606, + -2.9898250561487876, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 108.37165090561274, + -4.489825056148788, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 105.77357469425942, + -5.989825056148788, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 103.17549848290611, + -7.489825056148788, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 100.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "turn right", + "value": 30, + "yaw": -2.617993877991495 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 100.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535897936 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 97.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 94.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 91.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 88.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 85.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 82.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 79.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 76.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 73.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 70.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 67.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 64.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 61.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 58.57742227155279, + -8.989825056148787, + -2.0740640549214495 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-58-22_1224617059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-58-22_1224617059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a9dd3eb31c60a9fa4f3d00a21c9448fe910d172 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_12-58-22_1224617059/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -978.7969500062621, + 203.59852209983194, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -980.2969500062621, + 206.19659831118526, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -981.7969500062621, + 208.79467452253857, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -983.2969500062621, + 211.3927507338919, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -984.7969500062621, + 213.9908269452452, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -986.2969500062621, + 216.58890315659852, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -987.7969500062621, + 219.18697936795184, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -989.2969500062621, + 221.78505557930515, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -990.7969500062621, + 224.38313179065847, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -992.2969500062621, + 226.98120800201178, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -993.7969500062621, + 229.5792842133651, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -995.2969500062621, + 232.17736042471842, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -996.7969500062621, + 234.77543663607173, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -998.2969500062621, + 237.37351284742505, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -999.7969500062621, + 239.97158905877836, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -1001.2969500062621, + 242.56966527013168, + -1.5613712350697027 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -1001.2969500062621, + 242.56966527013168, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -1001.2969500062621, + 245.56966527013168, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -1001.2969500062621, + 248.56966527013168, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -1001.2969500062621, + 251.56966527013168, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -1001.2969500062621, + 254.56966527013168, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -1001.2969500062621, + 257.5696652701317, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -1001.2969500062621, + 260.5696652701317, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -1001.2969500062621, + 263.5696652701317, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1001.2969500062621, + 266.5696652701317, + -1.5613712350697027 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -1001.2969500062621, + 269.5696652701317, + -1.5613712350697027 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-0-41_474625012/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-0-41_474625012/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..532f3618799fc5e8f48e1b1ab5f3f3084788b798 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-0-41_474625012/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -723.0376273258514, + 246.22381374457868, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -720.0376273258514, + 246.22381374457868, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -717.0376273258514, + 246.22381374457868, + 3.7355908776026343 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -717.0376273258514, + 246.22381374457868, + 3.7355908776026343 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -717.0376273258514, + 246.22381374457868, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -715.5376273258514, + 248.821889955932, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.0376273258514, + 251.4199661672853, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -712.5376273258514, + 254.01804237863863, + 3.7355908776026343 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -712.5376273258514, + 254.01804237863863, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -709.939551114498, + 255.51804237863863, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -707.3414749031447, + 257.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982812 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -704.7433986917913, + 258.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -702.1453224804379, + 260.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -699.5472462690846, + 261.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -696.9491700577312, + 263.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -694.3510938463778, + 264.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -691.7530176350244, + 266.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -689.1549414236711, + 267.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -686.5568652123177, + 269.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -683.9587890009643, + 270.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -681.3607127896109, + 272.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.7626365782576, + 273.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -676.1645603669042, + 275.0180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -673.5664841555508, + 276.5180423786386, + 3.7355908776026343 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -670.9684079441975, + 278.0180423786386, + 3.7355908776026343 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-35_1702286931/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-35_1702286931/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..853bf067803c5c28a983ce00cb5be9b9641f5bb9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-10-35_1702286931/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -750.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -747.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -744.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -741.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -738.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -735.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -732.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -729.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -726.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -723.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -720.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -717.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -708.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -705.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -705.8493669632159, + 98.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -703.2512907518626, + 99.87680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -700.6532145405092, + 101.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -698.0551383291559, + 102.87680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -695.4570621178025, + 104.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -692.8589859064491, + 105.87680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -690.2609096950957, + 107.37680267299257, + -3.572163876906377 + ], + "type": "turn right", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -690.2609096950957, + 107.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": -9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -687.2609096950957, + 107.37680267299257, + -3.572163876906377 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -684.2609096950957, + 107.37680267299257, + -3.572163876906377 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-38_1536503812/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-38_1536503812/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1d0143ad4c063cfff2ccdceb7f103260b36ead49 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-38_1536503812/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 173.18917677926723, + 627.7171422300678, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 174.68917677926723, + 630.3152184414212, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 176.18917677926723, + 632.9132946527745, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 177.68917677926723, + 635.5113708641279, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 179.18917677926723, + 638.1094470754813, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 180.68917677926723, + 640.7075232868347, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 182.18917677926723, + 643.305599498188, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 183.68917677926723, + 645.9036757095414, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 185.18917677926723, + 648.5017519208948, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 186.68917677926723, + 651.0998281322481, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 188.18917677926723, + 653.6979043436015, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 189.68917677926723, + 656.2959805549549, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 191.18917677926723, + 658.8940567663083, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 192.68917677926723, + 661.4921329776616, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 194.18917677926723, + 664.090209189015, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 195.68917677926723, + 666.6882854003684, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 197.18917677926723, + 669.2863616117218, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 198.68917677926723, + 671.8844378230751, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 200.18917677926723, + 674.4825140344285, + 0.820846079069816 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 200.18917677926723, + 674.4825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 202.78725299062054, + 675.9825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 205.38532920197386, + 677.4825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 207.98340541332718, + 678.9825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 210.5814816246805, + 680.4825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 213.1795578360338, + 681.9825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 215.77763404738712, + 683.4825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 218.37571025874044, + 684.9825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.97378647009376, + 686.4825140344285, + 0.820846079069816 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 223.57186268144707, + 687.9825140344285, + 0.820846079069816 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-53_1666152978/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-53_1666152978/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..335aeafb8c5da6de9487f3a607ef4bc112e3870f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-13-53_1666152978/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 426.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 423.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 420.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 417.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 414.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 411.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 408.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 402.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 396.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 393.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 390.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 387.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 384.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 381.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 378.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 375.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 372.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 369.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 366.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 363.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 357.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 354.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 351.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 348.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 345.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 342.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 339.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 336.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 333.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 330.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 327.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 324.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 321.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 318.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 318.83219932022797, + 672.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 316.23412310887466, + 671.3977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 313.63604689752134, + 669.8977339466979, + 1.9207369356870974 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 311.037970686168, + 668.3977339466979, + 1.9207369356870974 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-37_1819216446/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-37_1819216446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..646c18d7a93ae4d33e7bad9ebd1e162a9acce4f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-37_1819216446/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 439.0943587936507, + -26.377280960841016, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 440.5943587936507, + -23.7792047494877, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 442.0943587936507, + -21.181128538134384, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 443.5943587936507, + -18.58305232678107, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 445.0943587936507, + -15.984976115427752, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 446.5943587936507, + -13.386899904074436, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 448.0943587936507, + -10.78882369272112, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 449.5943587936507, + -8.190747481367804, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 451.0943587936507, + -5.592671270014488, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 452.5943587936507, + -2.9945950586611723, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 454.0943587936507, + -0.39651884730785625, + -2.923460248562281 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 454.0943587936507, + -0.39651884730785625, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 456.69243500500403, + 1.1034811526921435, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 459.29051121635734, + 2.6034811526921433, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 461.88858742771066, + 4.103481152692143, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982987 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 464.486663639064, + 5.603481152692143, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 467.0847398504173, + 7.103481152692143, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 469.6828160617706, + 8.603481152692142, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982986 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 472.2808922731239, + 10.103481152692142, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 474.87896848447724, + 11.603481152692142, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 477.47704469583056, + 13.103481152692142, + -2.923460248562281 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 477.47704469583056, + 13.103481152692142, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 478.97704469583056, + 15.701557364045458, + -2.923460248562281 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 480.47704469583056, + 18.299633575398772, + -2.923460248562281 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-50_1099495096/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-50_1099495096/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba188b61c25d87eccf486f8f4f7cd3e72228e0a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-21-50_1099495096/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -710.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -707.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -704.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -701.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -698.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -695.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -692.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -689.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -683.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -680.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -677.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -674.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -671.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -665.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -662.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -662.2122790381654, + 502.5535959528258, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -660.7122790381654, + 499.9555197414725, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.2122790381654, + 497.35744353011916, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -657.7122790381654, + 494.75936731876584, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -656.2122790381654, + 492.1612911074125, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -654.7122790381654, + 489.5632148960592, + -2.670483353865662 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -654.7122790381654, + 489.5632148960592, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -652.1142028268121, + 488.0632148960592, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -649.5161266154587, + 486.5632148960592, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -646.9180504041053, + 485.0632148960592, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -644.3199741927519, + 483.5632148960592, + -2.670483353865662 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -641.7218979813986, + 482.0632148960592, + -2.670483353865662 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-22-53_833264839/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-22-53_833264839/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c02e1dd257343680dc199dfb1849f968d300d879 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-22-53_833264839/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 59.42858369288796, + 709.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 56.830507481534646, + 707.6604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 54.23243127018133, + 706.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 51.634355058828014, + 704.6604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 49.0362788474747, + 703.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 46.43820263612138, + 701.6604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 43.840126424768066, + 700.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 41.24205021341475, + 698.6604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 38.643974002061434, + 697.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 36.04589779070812, + 695.6604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 33.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 33.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 30.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 27.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 24.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 21.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 18.4478215793548, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 15.447821579354802, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 12.447821579354802, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 9.447821579354802, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 6.447821579354802, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 3.4478215793548017, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 0.4478215793548017, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 0.4478215793548017, + 694.1604643217606, + -2.4984192959672153 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -2.1502546319985143, + 692.6604643217606, + -2.4984192959672153 + ], + "type": "stop", + "value": 0, + "yaw": 3.665191429188092 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -5.930885200500488, + 691.5702409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-23-58_1620866408/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-23-58_1620866408/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d238c453e91d1c7dfab1e2fb0f81270d8f23d3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-23-58_1620866408/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -379.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -376.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -373.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -370.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -367.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -364.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -361.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -358.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -355.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -352.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -349.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -346.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -343.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -340.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -337.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -334.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -331.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -331.94313925336326, + -395.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -329.34506304200994, + -396.58675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -326.7469868306566, + -398.08675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -324.1489106193033, + -399.58675685426545, + -3.917816112050544 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -321.55083440795, + -401.08675685426545, + -3.917816112050544 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-25-15_627153538/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-25-15_627153538/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9e396f186c320446a65c391fbd9ad87fabe8f93b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-25-15_627153538/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -574.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -577.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -580.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -583.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -586.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -589.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -592.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -595.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -598.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -601.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -604.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -607.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -610.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -613.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -616.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -619.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -622.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -625.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -628.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -631.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -634.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -637.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -646.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -652.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -655.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -658.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -661.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -661.408515033461, + 94.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -664.0065912448142, + 96.01183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -666.6046674561676, + 97.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -669.202743667521, + 99.01183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -671.8008198788743, + 100.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -674.3988960902277, + 102.01183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -676.9969723015811, + 103.51183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -679.5950485129345, + 105.01183846298352, + 4.27115236234496 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -682.1931247242878, + 106.51183846298352, + 4.27115236234496 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-28-7_543672876/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-28-7_543672876/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3cc3e26387a19c7c0e1d23b7b7631e817c0baae8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-28-7_543672876/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -785.7328783547941, + 70.77959551091774, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.2328783547941, + 68.18151929956443, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -788.7328783547941, + 65.58344308821111, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -790.2328783547941, + 62.985366876857796, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -791.7328783547941, + 60.38729066550448, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -793.2328783547941, + 57.789214454151164, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -794.7328783547941, + 55.19113824279785, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -796.2328783547941, + 52.59306203144453, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -797.7328783547941, + 49.994985820091216, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -799.2328783547941, + 47.3969096087379, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -800.7328783547941, + 44.798833397384584, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -802.2328783547941, + 42.20075718603127, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -803.7328783547941, + 39.60268097467795, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -805.2328783547941, + 37.004604763324636, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -806.7328783547941, + 34.40652855197132, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -808.2328783547941, + 31.808452340618004, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -809.7328783547941, + 29.210376129264688, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -811.2328783547941, + 26.612299917911372, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -812.7328783547941, + 24.014223706558056, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -814.2328783547941, + 21.41614749520474, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -815.7328783547941, + 18.818071283851424, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -817.2328783547941, + 16.219995072498108, + 2.7239351009834936 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -818.7328783547941, + 13.621918861144792, + 2.7239351009834936 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-39-47_123204721/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-39-47_123204721/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce469e67f435138db6178c30d9a9a596d71b2217 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-39-47_123204721/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 100.40919981888447, + -401.0952079123072, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 101.90919981888447, + -398.4971317009539, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 103.40919981888447, + -395.8990554896006, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 104.90919981888447, + -393.30097927824727, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 106.40919981888447, + -390.70290306689395, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.90919981888447, + -388.10482685554064, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 109.40919981888447, + -385.5067506441873, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 110.90919981888447, + -382.908674432834, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 112.40919981888447, + -380.3105982214807, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 113.90919981888447, + -377.7125220101274, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 115.40919981888447, + -375.11444579877406, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 116.90919981888447, + -372.51636958742074, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.40919981888447, + -369.9182933760674, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 119.90919981888447, + -367.3202171647141, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 121.40919981888447, + -364.7221409533608, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 122.90919981888447, + -362.1240647420075, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 124.40919981888447, + -359.52598853065416, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 125.90919981888447, + -356.92791231930084, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 127.40919981888447, + -354.32983610794753, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 128.90919981888447, + -351.7317598965942, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 130.40919981888447, + -349.1336836852409, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 131.90919981888447, + -346.5356074738876, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 133.40919981888447, + -343.93753126253426, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 134.90919981888447, + -341.33945505118095, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 136.40919981888447, + -338.74137883982763, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 137.90919981888447, + -336.1433026284743, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 139.40919981888447, + -333.545226417121, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 140.90919981888447, + -330.9471502057677, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 142.40919981888447, + -328.34907399441437, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 143.90919981888447, + -325.75099778306105, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 145.40919981888447, + -323.15292157170774, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 146.90919981888447, + -320.5548453603544, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 148.40919981888447, + -317.9567691490011, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 149.90919981888447, + -315.3586929376478, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 151.40919981888447, + -312.7606167262945, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 152.90919981888447, + -310.16254051494116, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 154.40919981888447, + -307.56446430358784, + 3.551681525749089 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 155.90919981888447, + -304.9663880922345, + 3.551681525749089 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 156.50516716003418, + -301.9973617553711, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-41-59_466686896/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-41-59_466686896/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d86f08e37952a15f4dcf7fcf0d72ef1e8d2ed228 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-41-59_466686896/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -435.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -432.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -429.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -426.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -423.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -420.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -417.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -414.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -411.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -408.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -405.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -402.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -399.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -396.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -393.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -390.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -387.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -384.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -381.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -378.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -375.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -372.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -369.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -366.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -363.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -360.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -357.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -357.175097181151, + 738.3379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -354.5770209697977, + 739.8379697124437, + -3.349391399527687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -351.97894475844436, + 741.3379697124437, + -3.349391399527687 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-44-48_160715005/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-44-48_160715005/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..838d26bd7ddbec568f22d6efac753abbcf7d6d3b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-44-48_160715005/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -897.6390322623082, + 485.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -897.6390322623082, + 482.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -897.6390322623082, + 479.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -897.6390322623082, + 476.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -897.6390322623082, + 473.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -897.6390322623082, + 470.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -897.6390322623082, + 467.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -897.6390322623082, + 464.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -897.6390322623082, + 461.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -897.6390322623082, + 458.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -897.6390322623082, + 455.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -897.6390322623082, + 452.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -897.6390322623082, + 449.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -897.6390322623082, + 446.3740516136337, + -2.1113723082409357 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -897.6390322623082, + 446.3740516136337, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -896.1390322623082, + 443.7759754022804, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -894.6390322623082, + 441.17789919092706, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -893.1390322623082, + 438.57982297957375, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -891.6390322623082, + 435.98174676822043, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -890.1390322623082, + 433.3836705568671, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -888.6390322623082, + 430.7855943455138, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -887.1390322623082, + 428.1875181341605, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -885.6390322623082, + 425.58944192280717, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -884.1390322623082, + 422.99136571145385, + -2.1113723082409357 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -882.6390322623082, + 420.39328950010054, + -2.1113723082409357 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-45-18_1896595622/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-45-18_1896595622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..52eed1f6613432754934e8768ca83307ced7c037 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-45-18_1896595622/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -634.6601318024864, + 95.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -637.2582080138397, + 96.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -639.8562842251931, + 98.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -642.4543604365465, + 99.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -645.0524366478999, + 101.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -647.6505128592532, + 102.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -650.2485890706066, + 104.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -652.84666528196, + 105.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -655.4447414933134, + 107.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -658.0428177046667, + 108.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -660.6408939160201, + 110.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -663.2389701273735, + 111.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -665.8370463387269, + 113.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -668.4351225500802, + 114.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -671.0331987614336, + 116.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -673.631274972787, + 117.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -676.2293511841403, + 119.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -678.8274273954937, + 120.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -681.4255036068471, + 122.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -684.0235798182005, + 123.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -686.6216560295538, + 125.16451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -689.2197322409072, + 126.66451456801339, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -691.8178084522606, + 128.16451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915077 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -697.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -700.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -703.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -706.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -709.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -712.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -715.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -718.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -721.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -724.415884663614, + 129.66451456801337, + 2.4825451593804537 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-49-55_1811098165/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-49-55_1811098165/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d12fb6d2857b84901c2828db7620ddcfcd1c3f40 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-49-55_1811098165/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -637.1234505328094, + -67.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -637.1234505328094, + -70.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -637.1234505328094, + -73.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -637.1234505328094, + -76.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -637.1234505328094, + -79.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.1234505328094, + -82.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -637.1234505328094, + -85.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -637.1234505328094, + -88.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -637.1234505328094, + -91.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -637.1234505328094, + -94.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -637.1234505328094, + -97.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -637.1234505328094, + -100.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -637.1234505328094, + -103.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -637.1234505328094, + -106.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -637.1234505328094, + -109.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -637.1234505328094, + -112.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -637.1234505328094, + -115.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -637.1234505328094, + -118.1655013843466, + -4.632345450736528 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -637.1234505328094, + -118.1655013843466, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -638.6234505328094, + -120.76357759569991, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -640.1234505328094, + -123.36165380705323, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -641.6234505328094, + -125.95973001840655, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -643.1234505328094, + -128.55780622975988, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393193 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -644.6234505328094, + -131.1558824411132, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -646.1234505328094, + -133.7539586524665, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -647.6234505328094, + -136.35203486381982, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -649.1234505328094, + -138.95011107517314, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -650.6234505328094, + -141.54818728652646, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -652.1234505328094, + -144.14626349787977, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -653.6234505328094, + -146.7443397092331, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -655.1234505328094, + -149.3424159205864, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -656.6234505328094, + -151.94049213193972, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -658.1234505328094, + -154.53856834329304, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -659.6234505328094, + -157.13664455464635, + -4.632345450736528 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -661.1234505328094, + -159.73472076599967, + -4.632345450736528 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-5-18_67744487/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-5-18_67744487/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a3804ceda73ff9ecccd6fa4419e0df2b4f4b8cfe --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-5-18_67744487/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -423.51908417692607, + 376.8394017792918, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -422.01908417692607, + 379.4374779906451, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -420.51908417692607, + 382.0355542019984, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -419.01908417692607, + 384.63363041335174, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -417.51908417692607, + 387.23170662470505, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -416.01908417692607, + 389.82978283605837, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -414.51908417692607, + 392.4278590474117, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -413.01908417692607, + 395.025935258765, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -411.51908417692607, + 397.6240114701183, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -410.01908417692607, + 400.22208768147163, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -408.51908417692607, + 402.82016389282495, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.01908417692607, + 405.41824010417827, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -405.51908417692607, + 408.0163163155316, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -404.01908417692607, + 410.6143925268849, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -402.51908417692607, + 413.2124687382382, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -401.01908417692607, + 415.81054494959153, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -399.51908417692607, + 418.40862116094485, + 1.079901866368557 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -399.51908417692607, + 418.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -399.51908417692607, + 421.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -399.51908417692607, + 424.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -399.51908417692607, + 427.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -399.51908417692607, + 430.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -399.51908417692607, + 433.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -399.51908417692607, + 436.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -399.51908417692607, + 439.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -399.51908417692607, + 442.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -399.51908417692607, + 445.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -399.51908417692607, + 448.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -399.51908417692607, + 451.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -399.51908417692607, + 454.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -399.51908417692607, + 457.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -399.51908417692607, + 460.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -399.51908417692607, + 463.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -399.51908417692607, + 466.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -399.51908417692607, + 469.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -399.51908417692607, + 472.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -399.51908417692607, + 475.40862116094485, + 1.079901866368557 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -399.51908417692607, + 478.40862116094485, + 1.079901866368557 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-52-59_1468854062/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-52-59_1468854062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..286f36c05f7bb183101e06b58d1fb2eb2382d730 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-52-59_1468854062/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -768.5266138140513, + 319.6425830647455, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -767.0266138140513, + 317.0445068533922, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -765.5266138140513, + 314.4464306420389, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -764.0266138140513, + 311.84835443068556, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -762.5266138140513, + 309.25027821933224, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -761.0266138140513, + 306.65220200797893, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -759.5266138140513, + 304.0541257966256, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -758.0266138140513, + 301.4560495852723, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -756.5266138140513, + 298.857973373919, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -755.0266138140513, + 296.25989716256566, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.5266138140513, + 293.66182095121235, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -752.0266138140513, + 291.06374473985903, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -750.5266138140513, + 288.4656685285057, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -749.0266138140513, + 285.8675923171524, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -747.5266138140513, + 283.2695161057991, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -746.0266138140513, + 280.67143989444577, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -744.5266138140513, + 278.07336368309245, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -743.0266138140513, + 275.47528747173914, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -741.5266138140513, + 272.8772112603858, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -740.0266138140513, + 270.2791350490325, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -738.5266138140513, + 267.6810588376792, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -737.0266138140513, + 265.0829826263259, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -735.5266138140513, + 262.48490641497256, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -734.0266138140513, + 259.88683020361924, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -732.5266138140513, + 257.2887539922659, + -3.9179709455028906 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -732.5266138140513, + 257.2887539922659, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -729.928537602698, + 255.78875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -727.3304613913447, + 254.28875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -724.7323851799913, + 252.78875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -722.1343089686379, + 251.28875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -719.5362327572846, + 249.78875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -716.9381565459312, + 248.28875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -714.3400803345778, + 246.78875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -711.7420041232244, + 245.28875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -709.1439279118711, + 243.78875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -706.5458517005177, + 242.28875399226592, + -3.9179709455028906 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -703.9477754891643, + 240.78875399226592, + -3.9179709455028906 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-56-45_653635872/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-56-45_653635872/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..02c86de4505e5c5e9f33dfb67cfc94d9226b4d33 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-56-45_653635872/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -232.72977435446995, + 556.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -232.72977435446995, + 559.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -232.72977435446995, + 562.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -232.72977435446995, + 565.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.72977435446995, + 568.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -232.72977435446995, + 571.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -232.72977435446995, + 574.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -232.72977435446995, + 577.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.72977435446995, + 580.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -232.72977435446995, + 583.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -232.72977435446995, + 586.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -232.72977435446995, + 589.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -232.72977435446995, + 592.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -232.72977435446995, + 595.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -232.72977435446995, + 598.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -232.72977435446995, + 601.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -232.72977435446995, + 604.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -232.72977435446995, + 607.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -232.72977435446995, + 610.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -232.72977435446995, + 613.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -232.72977435446995, + 616.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -232.72977435446995, + 619.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -232.72977435446995, + 622.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -232.72977435446995, + 625.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -232.72977435446995, + 628.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -232.72977435446995, + 631.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -232.72977435446995, + 634.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -232.72977435446995, + 637.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -232.72977435446995, + 640.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -232.72977435446995, + 643.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -232.72977435446995, + 646.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -232.72977435446995, + 649.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -232.72977435446995, + 652.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -232.72977435446995, + 655.3878251977172, + 3.869088854318191 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -232.72977435446995, + 655.3878251977172, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -231.22977435446995, + 657.9859014090705, + 3.869088854318191 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -229.72977435446995, + 660.5839776204239, + 3.869088854318191 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965883 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-44_51854353/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-44_51854353/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1aa894939c221deea68e026a158e7c5029194a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-59-44_51854353/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -577.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -580.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -583.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -586.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -589.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -592.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -595.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -598.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -601.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -604.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -607.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -610.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -613.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -616.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -619.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -622.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -625.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -628.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -631.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -634.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -637.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.5730309924871, + 28.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -643.1711072038404, + 27.32613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -645.7691834151938, + 25.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -648.3672596265471, + 24.32613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -650.9653358379005, + 22.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -653.5634120492539, + 21.32613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -656.1614882606073, + 19.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -658.7595644719606, + 18.32613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -661.357640683314, + 16.82613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -663.9557168946674, + 15.32613839211615, + -4.847295162253809 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -666.5537931060207, + 13.82613839211615, + -4.847295162253809 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-26_1402907526/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-26_1402907526/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..929a7c7c306f04a5fadaed5030bf3f96c11716e6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-26_1402907526/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -759.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -756.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -753.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -750.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -747.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -744.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -741.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -738.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -735.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -732.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -729.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -726.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -723.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -720.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -717.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -711.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -708.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -705.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -702.7347641727858, + 256.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -700.1366879614325, + 257.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -697.5386117500791, + 259.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -694.9405355387257, + 260.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -692.3424593273724, + 262.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -689.744383116019, + 263.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -687.1463069046656, + 265.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -684.5482306933122, + 266.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -681.9501544819589, + 268.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -679.3520782706055, + 269.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -676.7540020592521, + 271.462400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -674.1559258478987, + 272.962400569859, + 3.368922872253121 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -671.5578496365454, + 274.462400569859, + 3.368922872253121 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-43_1507629701/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-43_1507629701/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a9d03e5f3fc8b811f4ad709ccfe323772f8117cf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-7-43_1507629701/pose.jsonl @@ -0,0 +1,274 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -807.3102776409712, + 216.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -807.3102776409712, + 219.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -807.3102776409712, + 222.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -807.3102776409712, + 225.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -807.3102776409712, + 228.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -807.3102776409712, + 231.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.3102776409712, + 234.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -807.3102776409712, + 237.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -807.3102776409712, + 240.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -807.3102776409712, + 243.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -807.3102776409712, + 246.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -807.3102776409712, + 249.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -807.3102776409712, + 252.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -807.3102776409712, + 255.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -807.3102776409712, + 258.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -807.3102776409712, + 261.1211103819624, + -1.0531248766650938 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -807.3102776409712, + 261.1211103819624, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -805.8102776409712, + 263.7191865933157, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -804.3102776409712, + 266.31726280466904, + -1.0531248766650938 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -802.8102776409712, + 268.91533901602236, + -1.0531248766650938 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-8-26_776878673/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-8-26_776878673/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67a72c4a8cdbcca033fc737d941dc8c0408d755b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_13-8-26_776878673/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -935.6149503079291, + 373.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -933.0168740965757, + 374.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -930.4187978852224, + 376.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -927.820721673869, + 377.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -925.2226454625156, + 379.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -922.6245692511623, + 380.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -920.0264930398089, + 382.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -917.4284168284555, + 383.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -914.8303406171021, + 385.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -912.2322644057488, + 386.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -909.6341881943954, + 388.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -907.036111983042, + 389.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -904.4380357716886, + 391.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -901.8399595603353, + 392.80128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -899.2418833489819, + 394.30128143339545, + -3.836809973837684 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -899.2418833489819, + 394.30128143339545, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -897.7418833489819, + 396.89935764474876, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -896.2418833489819, + 399.4974338561021, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -894.7418833489819, + 402.0955100674554, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -893.2418833489819, + 404.6935862788087, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -891.7418833489819, + 407.291662490162, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -890.2418833489819, + 409.88973870151534, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -888.7418833489819, + 412.48781491286866, + -3.836809973837684 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -887.2418833489819, + 415.085891124222, + -3.836809973837684 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-0_1055026196/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-0_1055026196/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5698a1d98c97870429b42efdf5a5b79c8737990d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-0_1055026196/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -243.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -240.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -237.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -234.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -231.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -228.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -225.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -222.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -219.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -219.67410741217049, + -493.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -217.07603120081717, + -492.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -214.47795498946385, + -490.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -211.87987877811054, + -489.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -209.28180256675722, + -487.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -206.6837263554039, + -486.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -204.0856501440506, + -484.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -201.48757393269727, + -483.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -198.88949772134396, + -481.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -196.29142150999064, + -480.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -193.69334529863733, + -478.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -191.095269087284, + -477.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -188.4971928759307, + -475.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -185.89911666457738, + -474.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -183.30104045322406, + -472.9449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -180.70296424187075, + -471.4449216427662, + 4.6883454763390215 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -178.10488803051743, + -469.9449216427662, + 4.6883454763390215 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-15_947921995/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-15_947921995/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c3b8defecdb67b58bf644792f5fb834eda33d1ea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-15_947921995/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -572.8391507415888, + 251.05680417617128, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -575.4372269529422, + 252.55680417617128, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -578.0353031642956, + 254.05680417617128, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -580.6333793756489, + 255.55680417617128, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -583.2314555870023, + 257.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -585.8295317983557, + 258.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -588.427608009709, + 260.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.0256842210624, + 261.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -593.6237604324158, + 263.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -596.2218366437692, + 264.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -598.8199128551225, + 266.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -601.4179890664759, + 267.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -604.0160652778293, + 269.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -606.6141414891827, + 270.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -609.212217700536, + 272.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -611.8102939118894, + 273.5568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -614.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -614.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -617.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -620.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -623.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -626.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -629.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -632.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -635.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -638.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -641.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -644.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -647.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -650.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -653.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -656.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -659.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -662.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -665.4083701232428, + 275.0568041761713, + -1.5456574242735814 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -669.1686190795898, + 276.07490257263186, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-32_1712171054/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-32_1712171054/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..df3cd5b1f2745407a853d69cede5375d67adb4e2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-0-32_1712171054/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 275.8015932879718, + 776.8565167251959, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 274.3015932879718, + 774.2584405138425, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 272.8015932879718, + 771.6603643024891, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 271.3015932879718, + 769.0622880911358, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 269.8015932879718, + 766.4642118797824, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 268.3015932879718, + 763.866135668429, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 266.8015932879718, + 761.2680594570757, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 265.3015932879718, + 758.6699832457223, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 263.8015932879718, + 756.0719070343689, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 262.3015932879718, + 753.4738308230155, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 260.8015932879718, + 750.8757546116622, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 259.3015932879718, + 748.2776784003088, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 257.8015932879718, + 745.6796021889554, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 256.3015932879718, + 743.081525977602, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 254.8015932879718, + 740.4834497662487, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 253.3015932879718, + 737.8853735548953, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 251.8015932879718, + 735.2872973435419, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 250.3015932879718, + 732.6892211321885, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 248.8015932879718, + 730.0911449208352, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 247.3015932879718, + 727.4930687094818, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 245.8015932879718, + 724.8949924981284, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 244.3015932879718, + 722.2969162867751, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 242.8015932879718, + 719.6988400754217, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 241.3015932879718, + 717.1007638640683, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 239.8015932879718, + 714.5026876527149, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 238.3015932879718, + 711.9046114413616, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 236.8015932879718, + 709.3065352300082, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 235.3015932879718, + 706.7084590186548, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 233.8015932879718, + 704.1103828073014, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 232.3015932879718, + 701.5123065959481, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 230.8015932879718, + 698.9142303845947, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 229.3015932879718, + 696.3161541732413, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 227.8015932879718, + 693.718077961888, + -2.5355580708568475 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 226.3015932879718, + 691.1200017505346, + -2.5355580708568475 + ], + "type": "stop", + "value": 0, + "yaw": -2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-17-36_1185037200/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-17-36_1185037200/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9a42236ff176ddea3683dced48a520f1c1c87d41 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-17-36_1185037200/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -731.6796940108048, + -125.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.0816177994516, + -126.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -726.4835415880982, + -128.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982853 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -723.8854653767448, + -129.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -721.2873891653915, + -131.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -718.6893129540381, + -132.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -716.0912367426847, + -134.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -713.4931605313313, + -135.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -710.895084319978, + -137.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -708.2970081086246, + -138.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -705.6989318972712, + -140.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -703.1008556859178, + -141.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -700.5027794745645, + -143.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -697.9047032632111, + -144.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -695.3066270518577, + -146.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -692.7085508405044, + -147.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -690.110474629151, + -149.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -687.5123984177976, + -150.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -684.9143222064442, + -152.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -682.3162459950909, + -153.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -679.7181697837375, + -155.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -677.1200935723841, + -156.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -674.5220173610307, + -158.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -671.9239411496774, + -159.8458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -669.325864938324, + -161.3458908078813, + -3.3682165695075383 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -669.325864938324, + -161.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -666.325864938324, + -161.3458908078813, + -3.3682165695075383 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -663.325864938324, + -161.3458908078813, + -3.3682165695075383 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-55_536359574/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-55_536359574/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fb1917080490e9017419ccbe032c95e31c5e2e83 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-18-55_536359574/pose.jsonl @@ -0,0 +1,79 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 494.83520290188113, + 316.9894604224655, + 0.5142529060661918 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 497.83520290188113, + 316.9894604224655, + 0.5142529060661918 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 497.83520290188113, + 316.9894604224655, + 0.5142529060661918 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 497.83520290188113, + 316.9894604224655, + 0.5142529060661918 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 499.33520290188113, + 314.3913842111122, + 0.5142529060661918 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-21-27_999114641/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-21-27_999114641/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..93bba1efbe259e9dc6c1d64f021bdd82cac08134 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-21-27_999114641/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -455.4447876653756, + -65.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -455.4447876653756, + -68.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -455.4447876653756, + -71.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -455.4447876653756, + -74.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -455.4447876653756, + -77.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -455.4447876653756, + -80.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -455.4447876653756, + -83.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -455.4447876653756, + -86.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.4447876653756, + -89.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -455.4447876653756, + -92.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -455.4447876653756, + -95.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -455.4447876653756, + -98.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -455.4447876653756, + -101.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -455.4447876653756, + -104.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -455.4447876653756, + -107.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -455.4447876653756, + -110.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -455.4447876653756, + -113.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -455.4447876653756, + -116.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -455.4447876653756, + -119.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -455.4447876653756, + -122.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -455.4447876653756, + -125.54267945804047, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -455.4447876653756, + -128.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -455.4447876653756, + -131.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -455.4447876653756, + -134.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -455.4447876653756, + -137.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -455.4447876653756, + -140.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -455.4447876653756, + -143.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -455.4447876653756, + -146.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -455.4447876653756, + -149.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -455.4447876653756, + -152.54267945804048, + -4.819547127658377 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -455.4447876653756, + -152.54267945804048, + -4.819547127658377 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -455.4447876653756, + -152.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -452.8467114540223, + -154.04267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -450.24863524266897, + -155.54267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -447.65055903131565, + -157.04267945804048, + -4.819547127658377 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -445.05248281996234, + -158.54267945804048, + -4.819547127658377 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -445.52278427124025, + -160.4525846862793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-28-34_496387191/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-28-34_496387191/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..aaf4c5ded3f5c8f202f3ed4f218a163e9ec1e49e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-28-34_496387191/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -839.292542265702, + -61.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -839.292542265702, + -58.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -839.292542265702, + -55.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -839.292542265702, + -52.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -839.292542265702, + -49.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -839.292542265702, + -46.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -839.292542265702, + -43.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -839.292542265702, + -40.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -839.292542265702, + -37.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -839.292542265702, + -34.58812150248151, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -839.292542265702, + -31.588121502481513, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -839.292542265702, + -28.588121502481513, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -839.292542265702, + -25.588121502481513, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -839.292542265702, + -22.588121502481513, + 2.924594694471634 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -839.292542265702, + -22.588121502481513, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -837.792542265702, + -19.990045291128197, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -836.292542265702, + -17.39196907977488, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -834.792542265702, + -14.793892868421565, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -833.292542265702, + -12.19581665706825, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -831.792542265702, + -9.597740445714933, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -830.292542265702, + -6.999664234361617, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -828.792542265702, + -4.401588023008301, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -827.292542265702, + -1.8035118116549853, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -825.792542265702, + 0.7945643996983307, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -824.292542265702, + 3.3926406110516467, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -822.792542265702, + 5.990716822404963, + 2.924594694471634 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -821.292542265702, + 8.588793033758279, + 2.924594694471634 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -821.0513497924804, + 12.496731524467467, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-13_1799802056/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-13_1799802056/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ceadf969eafa60eba420613b9d4634db28f3da53 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-29-13_1799802056/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -119.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -116.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -113.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -110.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -107.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -104.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -101.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -98.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -95.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -92.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -89.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -86.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -83.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -83.66511944359415, + -293.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -81.06704323224083, + -292.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -78.46896702088752, + -290.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -75.8708908095342, + -289.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -73.27281459818089, + -287.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -70.67473838682757, + -286.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -68.07666217547425, + -284.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -65.47858596412094, + -283.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -62.88050975276762, + -281.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -60.282433541414306, + -280.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -57.68435733006099, + -278.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -55.086281118707674, + -277.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -52.48820490735436, + -275.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -49.89012869600104, + -274.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -47.292052484647726, + -272.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -44.69397627329441, + -271.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -42.095900061941094, + -269.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -39.49782385058778, + -268.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -36.89974763923446, + -266.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -34.301671427881146, + -265.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -31.70359521652783, + -263.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -29.105519005174514, + -262.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -26.5074427938212, + -260.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -23.909366582467882, + -259.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -21.311290371114566, + -257.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -18.71321415976125, + -256.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -16.115137948407934, + -254.68300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -13.517061737054618, + -253.18300060050956, + -0.56518693461138 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -10.918985525701302, + -251.68300060050956, + -0.56518693461138 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-32-3_824765827/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-32-3_824765827/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7d78f6677585018b78a43bf6ad643fb210fe578e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_14-32-3_824765827/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -905.2048038825023, + 265.31706817119243, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -906.7048038825023, + 267.91514438254575, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -908.2048038825023, + 270.51322059389906, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -909.7048038825023, + 273.1112968052524, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -911.2048038825023, + 275.7093730166057, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -912.7048038825023, + 278.307449227959, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -914.2048038825023, + 280.9055254393123, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -915.7048038825023, + 283.50360165066564, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -917.2048038825023, + 286.10167786201896, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -918.7048038825023, + 288.6997540733723, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -920.2048038825023, + 291.2978302847256, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -921.7048038825023, + 293.8959064960789, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -923.2048038825023, + 296.4939827074322, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -924.7048038825023, + 299.09205891878554, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.2048038825023, + 301.69013513013886, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -927.7048038825023, + 304.2882113414922, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -929.2048038825023, + 306.8862875528455, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -930.7048038825023, + 309.4843637641988, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -932.2048038825023, + 312.0824399755521, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -933.7048038825023, + 314.68051618690544, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -935.2048038825023, + 317.27859239825875, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -936.7048038825023, + 319.87666860961207, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -938.2048038825023, + 322.4747448209654, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -939.7048038825023, + 325.0728210323187, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -941.2048038825023, + 327.670897243672, + 1.0816911850202162 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -941.2048038825023, + 327.670897243672, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -941.2048038825023, + 330.670897243672, + 1.0816911850202162 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.2048038825023, + 333.670897243672, + 1.0816911850202162 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-11-20_1061537967/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-11-20_1061537967/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d36d50472b3d8fffa9c21e5dec92f09aea78735 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-11-20_1061537967/pose.jsonl @@ -0,0 +1,599 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -431.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -434.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -437.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -440.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -443.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -446.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -449.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -452.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -455.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -458.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -461.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -464.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -467.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -470.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -473.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -476.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -479.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -485.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -488.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -491.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -494.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -497.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -500.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -503.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -506.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -509.50167522816406, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -512.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -515.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -518.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -521.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -524.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -527.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -527.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -527.501675228164, + 180.56742445389676, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -529.001675228164, + 183.16550066525008, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -530.501675228164, + 185.7635768766034, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -532.001675228164, + 188.3616530879567, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -533.501675228164, + 190.95972929931003, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -535.001675228164, + 193.55780551066334, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -536.501675228164, + 196.15588172201666, + -3.834109295397626 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -536.501675228164, + 196.15588172201666, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -539.0997514395174, + 197.65588172201666, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 43, + "pos": [ + -541.6978276508707, + 199.15588172201666, + -3.834109295397626 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 44, + "pos": [ + -544.2959038622241, + 200.65588172201666, + -3.834109295397626 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-13-34_1360933007/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-13-34_1360933007/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f226db445881b45ce6d9b5fa3df2a6b85ff71378 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-13-34_1360933007/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -938.2640971085249, + 404.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -938.2640971085249, + 401.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -938.2640971085249, + 398.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -938.2640971085249, + 395.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -938.2640971085249, + 392.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -938.2640971085249, + 389.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -938.2640971085249, + 386.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -938.2640971085249, + 383.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -938.2640971085249, + 380.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -938.2640971085249, + 377.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -938.2640971085249, + 374.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -938.2640971085249, + 371.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -938.2640971085249, + 368.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -938.2640971085249, + 365.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -938.2640971085249, + 362.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -938.2640971085249, + 359.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -938.2640971085249, + 356.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -938.2640971085249, + 353.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -938.2640971085249, + 350.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -938.2640971085249, + 347.94430532493254, + -1.0630587884241525 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -938.2640971085249, + 347.94430532493254, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.7640971085249, + 345.3462291135792, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -941.2640971085249, + 342.7481529022259, + -1.0630587884241525 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.7640971085249, + 340.1500766908726, + -1.0630587884241525 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-23_1066075704/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-23_1066075704/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d867ee017194816a62afc1b188bcff4d33b09ea9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-23_1066075704/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 301.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 298.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 295.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 292.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 289.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 286.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 283.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 280.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 277.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 274.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 271.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 268.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 265.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 262.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 259.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 256.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 253.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 250.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 247.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 244.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 244.8778623540705, + 698.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 242.27978614271717, + 697.4653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 239.68170993136386, + 695.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 237.08363372001054, + 694.4653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 234.48555750865722, + 692.9653321937237, + 0.43512517234984216 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 231.8874812973039, + 691.4653321937237, + 0.43512517234984216 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-52_680634295/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-52_680634295/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..05aca576d89f3494b65a54d72367348545fc50d5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-52_680634295/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 323.1197464019019, + -32.534400110922654, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 324.6197464019019, + -35.13247632227597, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 326.1197464019019, + -37.730552533629286, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 327.6197464019019, + -40.3286287449826, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 329.1197464019019, + -42.92670495633592, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 330.6197464019019, + -45.524781167689234, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 332.1197464019019, + -48.12285737904255, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 333.6197464019019, + -50.720933590395866, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 335.1197464019019, + -53.31900980174918, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 336.6197464019019, + -55.9170860131025, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 338.1197464019019, + -58.515162224455814, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 339.6197464019019, + -61.11323843580913, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 341.1197464019019, + -63.711314647162446, + -2.638058720661905 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 341.1197464019019, + -63.711314647162446, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 343.71782261325524, + -65.21131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982968 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 346.31589882460855, + -66.71131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 348.91397503596187, + -68.21131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 351.5120512473152, + -69.71131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 354.1101274586685, + -71.21131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 356.7082036700218, + -72.71131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 359.30627988137513, + -74.21131464716244, + -2.638058720661905 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 359.30627988137513, + -74.21131464716244, + -2.638058720661905 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 360.80627988137513, + -76.80939085851575, + -2.638058720661905 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965976 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-7_1690127682/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-7_1690127682/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d6801d601d9b8a7a4fc21ed76cdb514c283f1660 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-19-7_1690127682/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -937.3741771018408, + 486.9730208475453, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -935.8741771018408, + 484.37494463619197, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.3741771018408, + 481.77686842483865, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -932.8741771018408, + 479.17879221348534, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -931.3741771018408, + 476.580716002132, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.8741771018408, + 473.9826397907787, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -928.3741771018408, + 471.3845635794254, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -926.8741771018408, + 468.7864873680721, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -925.3741771018408, + 466.18841115671876, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -923.8741771018408, + 463.59033494536544, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -922.3741771018408, + 460.9922587340121, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -920.8741771018408, + 458.3941825226588, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -919.3741771018408, + 455.7961063113055, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -917.8741771018408, + 453.1980300999522, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -916.3741771018408, + 450.59995388859886, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -914.8741771018408, + 448.00187767724555, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -913.3741771018408, + 445.40380146589223, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -911.8741771018408, + 442.8057252545389, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -910.3741771018408, + 440.2076490431856, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -908.8741771018408, + 437.6095728318323, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -907.3741771018408, + 435.01149662047897, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -905.8741771018408, + 432.41342040912565, + -2.8560437895439805 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -905.8741771018408, + 432.41342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -903.2761008904874, + 430.91342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -900.6780246791341, + 429.41342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -898.0799484677807, + 427.91342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -895.4818722564273, + 426.41342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -892.883796045074, + 424.91342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -890.2857198337206, + 423.41342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -887.6876436223672, + 421.91342040912565, + -2.8560437895439805 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -885.0895674110138, + 420.41342040912565, + -2.8560437895439805 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-21-38_320062251/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-21-38_320062251/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..07f09c41be35caba1aae46770837ec739ff4da8e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-21-38_320062251/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -809.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -806.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -803.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -800.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -797.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -794.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -791.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -791.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -791.0495012865233, + 57.0557157228139, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -789.5495012865233, + 54.457639511460584, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -788.0495012865233, + 51.85956330010727, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -786.5495012865233, + 49.26148708875395, + 2.5537602829371053 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -786.5495012865233, + 49.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -783.9514250751699, + 47.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -781.3533488638166, + 46.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -778.7552726524632, + 44.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -776.1571964411098, + 43.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -773.5591202297564, + 41.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -770.9610440184031, + 40.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.3629678070497, + 38.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.7648915956963, + 37.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -763.166815384343, + 35.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -760.5687391729896, + 34.26148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -757.9706629616362, + 32.76148708875395, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -755.3725867502828, + 31.261487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -752.7745105389295, + 29.761487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -750.1764343275761, + 28.261487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -747.5783581162227, + 26.761487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -744.9802819048693, + 25.261487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -742.382205693516, + 23.761487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -739.7841294821626, + 22.261487088753952, + 2.5537602829371053 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -739.7841294821626, + 22.261487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 9.43689570931383e-15 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -736.7841294821626, + 22.261487088753952, + 2.5537602829371053 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -733.7841294821626, + 22.261487088753952, + 2.5537602829371053 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -731.5441055297852, + 23.07341537475586, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-53_1438638589/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-53_1438638589/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a437846dd132c04cdc315edb14f31ca87182db12 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-25-53_1438638589/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -312.7172241592964, + 30.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -310.1191479479431, + 29.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -307.52107173658976, + 27.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -304.92299552523644, + 26.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -302.32491931388313, + 24.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -299.7268431025298, + 23.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -297.1287668911765, + 21.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.5306906798232, + 20.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -291.93261446846986, + 18.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -289.33453825711655, + 17.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -286.73646204576323, + 15.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -284.1383858344099, + 14.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -281.5403096230566, + 12.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -278.9422334117033, + 11.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -276.34415720034997, + 9.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -273.74608098899665, + 8.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -271.14800477764334, + 6.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -268.54992856629, + 5.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -265.9518523549367, + 3.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -263.3537761435834, + 2.010851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -260.7556999322301, + 0.510851363258457, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -258.15762372087676, + -0.9891486367415427, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -255.55954750952344, + -2.4891486367415423, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -252.96147129817012, + -3.9891486367415423, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -250.3633950868168, + -5.489148636741542, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -247.7653188754635, + -6.989148636741542, + 3.138490095652939 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -245.16724266411018, + -8.489148636741541, + 3.138490095652939 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-26-7_1110980456/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-26-7_1110980456/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a78adf1e8e7c8a8143690a815bc189778c2d671 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-26-7_1110980456/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 468.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 471.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 474.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 477.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 480.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 483.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 486.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 486.13334085850795, + 268.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 488.73141706986127, + 266.58269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 491.3294932812146, + 265.08269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 493.9275694925679, + 263.58269994632246, + 2.2187263575707625 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 496.5256457039212, + 262.08269994632246, + 2.2187263575707625 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 583.5565863037109, + 244.7667236328125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-34-46_217985588/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-34-46_217985588/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..34d73f7a145630af5565eff9211f1f3414d9e239 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-34-46_217985588/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -658.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -661.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -664.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -667.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -670.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -673.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -676.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -679.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -682.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -685.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -688.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -691.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -697.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -700.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -703.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -706.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -706.2795115567203, + 232.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -708.8775877680737, + 230.51293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -711.475663979427, + 229.01293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -714.0737401907804, + 227.51293426652325, + 2.219123725063646 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -716.6718164021338, + 226.01293426652325, + 2.219123725063646 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-41-41_457615859/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-41-41_457615859/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0f5e2bf8d5e1d81c5baa1b6f5099eeacbbc5e829 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-41-41_457615859/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -745.1938029312557, + 28.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -745.1938029312557, + 31.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.1938029312557, + 34.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -745.1938029312557, + 37.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.1938029312557, + 40.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.1938029312557, + 43.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.1938029312557, + 46.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.1938029312557, + 49.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -745.1938029312557, + 52.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -745.1938029312557, + 55.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -745.1938029312557, + 58.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -745.1938029312557, + 61.942535473153626, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -745.1938029312557, + 64.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.1938029312557, + 67.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -745.1938029312557, + 70.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -745.1938029312557, + 73.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.1938029312557, + 76.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.1938029312557, + 79.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.1938029312557, + 82.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -745.1938029312557, + 85.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -745.1938029312557, + 88.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -745.1938029312557, + 91.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -745.1938029312557, + 94.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -745.1938029312557, + 97.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -745.1938029312557, + 100.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -745.1938029312557, + 103.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -745.1938029312557, + 106.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -745.1938029312557, + 109.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -745.1938029312557, + 112.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -745.1938029312557, + 115.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -745.1938029312557, + 118.94253547315363, + -0.43883750514190467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -745.1938029312557, + 118.94253547315363, + -0.43883750514190467 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -745.1938029312557, + 118.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982989 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -742.5957267199024, + 120.44253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -739.997650508549, + 121.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -737.3995742971956, + 123.44253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -734.8014980858422, + 124.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -732.2034218744889, + 126.44253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -729.6053456631355, + 127.94253547315363, + -0.43883750514190467 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -727.0072694517821, + 129.4425354731536, + -0.43883750514190467 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-18_1162824071/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-18_1162824071/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e38c67da6f23e4e992406316918d9883926c98e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-46-18_1162824071/pose.jsonl @@ -0,0 +1,105 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -982.783618637718, + 269.76662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -985.3816948490712, + 271.26662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -987.9797710604246, + 272.76662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -990.577847271778, + 274.26662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -993.1759234831313, + 275.76662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -995.7739996944847, + 277.26662446059345, + 1.8859644556898196 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -998.3720759058381, + 278.76662446059345, + 1.8859644556898196 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-48-15_593443203/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-48-15_593443203/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f1f2e5fb8d40adced50cff6a0030894d24d62ece --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-48-15_593443203/pose.jsonl @@ -0,0 +1,235 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -872.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -869.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -866.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -863.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -860.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -857.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -854.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -851.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -848.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -848.8841145202899, + 302.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -846.2860383089367, + 301.2741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -843.6879620975833, + 299.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -841.0898858862299, + 298.2741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -838.4918096748765, + 296.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -835.8937334635232, + 295.2741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -833.2956572521698, + 293.7741999150096, + -4.272258406473818 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -830.6975810408164, + 292.2741999150096, + -4.272258406473818 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-11_1198911786/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-11_1198911786/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58093932137fb3afec0da0607b76fdf50644d708 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-11_1198911786/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -714.7890436138026, + 143.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -714.7890436138026, + 146.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -714.7890436138026, + 149.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -714.7890436138026, + 152.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -714.7890436138026, + 155.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -714.7890436138026, + 158.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -714.7890436138026, + 161.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -714.7890436138026, + 164.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -714.7890436138026, + 167.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -714.7890436138026, + 170.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -714.7890436138026, + 173.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -714.7890436138026, + 176.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -714.7890436138026, + 179.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -714.7890436138026, + 182.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -714.7890436138026, + 185.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -714.7890436138026, + 188.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -714.7890436138026, + 191.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -714.7890436138026, + 194.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -714.7890436138026, + 197.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -714.7890436138026, + 200.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -714.7890436138026, + 203.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -714.7890436138026, + 206.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -714.7890436138026, + 209.69599987393946, + 3.352951436032818 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.7890436138026, + 209.69599987393946, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -713.2890436138026, + 212.29407608529277, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -711.7890436138026, + 214.8921522966461, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -710.2890436138026, + 217.4902285079994, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -708.7890436138026, + 220.08830471935272, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -707.2890436138026, + 222.68638093070604, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -705.7890436138026, + 225.28445714205935, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -704.2890436138026, + 227.88253335341267, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -702.7890436138026, + 230.48060956476598, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -701.2890436138026, + 233.0786857761193, + 3.352951436032818 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -699.7890436138026, + 235.67676198747262, + 3.352951436032818 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -701.6309753417969, + 238.16310417175293, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-28_1909443370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-28_1909443370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc891a5538a723f9a2ab3b1e300768c079dbfc76 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-49-28_1909443370/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -825.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -822.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -819.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -816.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -813.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -810.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -807.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -804.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -801.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -798.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -795.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -792.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -789.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -786.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -783.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -780.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -777.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -774.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -771.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -765.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -762.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -762.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -762.4222375348394, + 253.1952049908985, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -760.9222375348394, + 250.5971287795452, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -759.4222375348394, + 247.99905256819187, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -757.9222375348394, + 245.40097635683856, + -0.678184997428561 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -757.9222375348394, + 245.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -755.3241613234861, + 243.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -752.7260851121328, + 242.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -750.1280089007794, + 240.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -747.529932689426, + 239.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -744.9318564780726, + 237.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -742.3337802667193, + 236.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -739.7357040553659, + 234.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -737.1376278440125, + 233.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -734.5395516326591, + 231.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -731.9414754213058, + 230.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -729.3433992099524, + 228.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -726.745322998599, + 227.40097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -724.1472467872456, + 225.90097635683856, + -0.678184997428561 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -721.5491705758923, + 224.40097635683856, + -0.678184997428561 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -719.2420056152343, + 225.9435828399658, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-5-45_1891363558/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-5-45_1891363558/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b9d9d3b3eebcf82050338694802ea7a6db414121 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-5-45_1891363558/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 288.4335291025313, + 747.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 288.4335291025313, + 744.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 288.4335291025313, + 741.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 288.4335291025313, + 738.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 288.4335291025313, + 735.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 288.4335291025313, + 732.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 288.4335291025313, + 729.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 288.4335291025313, + 726.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 288.4335291025313, + 723.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 288.4335291025313, + 720.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 288.4335291025313, + 717.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 288.4335291025313, + 714.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 288.4335291025313, + 711.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 288.4335291025313, + 708.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 288.4335291025313, + 705.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 288.4335291025313, + 702.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 288.4335291025313, + 699.6312060202453, + -4.513611170546784 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 288.4335291025313, + 699.6312060202453, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 289.9335291025313, + 697.033129808892, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965883 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 291.4335291025313, + 694.4350535975386, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 292.9335291025313, + 691.8369773861853, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 294.4335291025313, + 689.2389011748319, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 295.9335291025313, + 686.6408249634785, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 297.4335291025313, + 684.0427487521251, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 298.9335291025313, + 681.4446725407718, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 300.4335291025313, + 678.8465963294184, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 301.9335291025313, + 676.248520118065, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 303.4335291025313, + 673.6504439067116, + -4.513611170546784 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 304.9335291025313, + 671.0523676953583, + -4.513611170546784 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-56-49_1402505904/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-56-49_1402505904/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4433ee104c968b062e938b488a3aa870b66fec1f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-56-49_1402505904/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 444.85483712280757, + -115.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 442.25676091145425, + -114.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.65868470010093, + -112.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 437.0606084887476, + -111.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 434.4625322773943, + -109.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 431.864456066041, + -108.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 429.26637985468767, + -106.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 426.66830364333435, + -105.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 424.07022743198104, + -103.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 421.4721512206277, + -102.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 418.8740750092744, + -100.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 416.2759987979211, + -99.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 413.6779225865678, + -97.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 411.07984637521446, + -96.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 408.48177016386114, + -94.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 405.8836939525078, + -93.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 403.2856177411545, + -91.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 400.6875415298012, + -90.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 398.0894653184479, + -88.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 395.49138910709456, + -87.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 392.89331289574125, + -85.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 390.29523668438793, + -84.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 387.6971604730346, + -82.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 385.0990842616813, + -81.0126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 382.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 382.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 379.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 376.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 373.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 370.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 367.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 364.501008050328, + -79.5126767671359, + 2.647274539892104 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-57-24_172669440/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-57-24_172669440/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c669fd0fb0254308b2de4662bb42ac5ed3c0b599 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-57-24_172669440/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -946.035030318311, + 260.2320727305777, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -947.535030318311, + 262.83014894193104, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -949.035030318311, + 265.42822515328436, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -950.535030318311, + 268.0263013646377, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -952.035030318311, + 270.624377575991, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -953.535030318311, + 273.2224537873443, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -955.035030318311, + 275.8205299986976, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -956.535030318311, + 278.41860621005094, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -958.035030318311, + 281.01668242140425, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -959.535030318311, + 283.61475863275757, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -961.035030318311, + 286.2128348441109, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -962.535030318311, + 288.8109110554642, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -964.035030318311, + 291.4089872668175, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -965.535030318311, + 294.00706347817083, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -967.035030318311, + 296.60513968952415, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -968.535030318311, + 299.20321590087747, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -970.035030318311, + 301.8012921122308, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -971.535030318311, + 304.3993683235841, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -973.035030318311, + 306.9974445349374, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -974.535030318311, + 309.59552074629073, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -976.035030318311, + 312.19359695764405, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -977.535030318311, + 314.79167316899736, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -979.035030318311, + 317.3897493803507, + -2.734858170887711 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -979.035030318311, + 317.3897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -981.6331065296642, + 318.8897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -984.2311827410176, + 320.3897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -986.829258952371, + 321.8897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -989.4273351637244, + 323.3897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -992.0254113750777, + 324.8897493803507, + -2.734858170887711 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -994.6234875864311, + 326.3897493803507, + -2.734858170887711 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-23_1129709433/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-23_1129709433/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b61b957f32d021ddedae46498dba42803f0e2397 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-23_1129709433/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -469.8376281259107, + -269.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -472.43570433726404, + -270.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -475.03378054861736, + -272.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -477.6318567599707, + -273.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -480.229932971324, + -275.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -482.8280091826773, + -276.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -485.4260853940306, + -278.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -488.02416160538394, + -279.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -490.62223781673725, + -281.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -493.22031402809057, + -282.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -495.8183902394439, + -284.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -498.4164664507972, + -285.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -501.0145426621505, + -287.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -503.61261887350383, + -288.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -506.21069508485715, + -290.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -508.80877129621047, + -291.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -511.4068475075638, + -293.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -514.0049237189171, + -294.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -516.6029999302705, + -296.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -519.2010761416238, + -297.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -521.7991523529772, + -299.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -524.3972285643306, + -300.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -526.995304775684, + -302.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -529.5933809870373, + -303.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -532.1914571983907, + -305.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -534.7895334097441, + -306.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -537.3876096210975, + -308.0260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -539.9856858324508, + -309.5260562993508, + 4.80740329970202 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -542.5837620438042, + -311.0260562993508, + 4.80740329970202 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-9_1199311796/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-9_1199311796/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0cbcab7823663f3c2d11d0b554f8eda908b89a4b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_2-8-9_1199311796/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -972.1198063100483, + 165.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -972.1198063100483, + 168.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -972.1198063100483, + 171.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -972.1198063100483, + 174.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -972.1198063100483, + 177.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -972.1198063100483, + 180.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -972.1198063100483, + 183.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -972.1198063100483, + 186.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -972.1198063100483, + 189.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -972.1198063100483, + 192.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -972.1198063100483, + 195.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -972.1198063100483, + 198.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -972.1198063100483, + 201.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -972.1198063100483, + 204.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -972.1198063100483, + 207.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -972.1198063100483, + 210.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -972.1198063100483, + 213.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -972.1198063100483, + 216.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -972.1198063100483, + 219.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -972.1198063100483, + 222.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -972.1198063100483, + 225.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -972.1198063100483, + 228.7453293148712, + -0.9147958634343425 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -972.1198063100483, + 228.7453293148712, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.6198063100483, + 231.34340552622453, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -975.1198063100483, + 233.94148173757785, + -0.9147958634343425 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -976.6198063100483, + 236.53955794893116, + -0.9147958634343425 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-21-53_639138264/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-21-53_639138264/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b34e1f7ce521a350c0a89ba1a2531f5b40e79118 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-21-53_639138264/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 261.07524723128, + 691.7931406947125, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 259.57524723128, + 694.3912169060659, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 258.07524723128, + 696.9892931174193, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 256.57524723128, + 699.5873693287726, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 255.07524723128, + 702.185445540126, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 253.57524723128, + 704.7835217514794, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 252.07524723128, + 707.3815979628328, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 250.57524723128, + 709.9796741741861, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 249.07524723128, + 712.5777503855395, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 247.57524723128, + 715.1758265968929, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 246.07524723128, + 717.7739028082462, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 244.57524723128, + 720.3719790195996, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 243.07524723128, + 722.970055230953, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 241.57524723128, + 725.5681314423064, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 240.07524723128, + 728.1662076536597, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 238.57524723128, + 730.7642838650131, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 237.07524723128, + 733.3623600763665, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 235.57524723128, + 735.9604362877199, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 234.07524723128, + 738.5585124990732, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 232.57524723128, + 741.1565887104266, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 231.07524723128, + 743.75466492178, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 229.57524723128, + 746.3527411331333, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 228.07524723128, + 748.9508173444867, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 226.57524723128, + 751.5488935558401, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 225.07524723128, + 754.1469697671935, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.57524723128, + 756.7450459785468, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.07524723128, + 759.3431221899002, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 220.57524723128, + 761.9411984012536, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 219.07524723128, + 764.539274612607, + -1.2821245403710813 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 219.07524723128, + 764.539274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 216.4771710199267, + 766.039274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 213.87909480857337, + 767.539274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 211.28101859722005, + 769.039274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 208.68294238586674, + 770.539274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 206.08486617451342, + 772.039274612607, + -1.2821245403710813 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 203.4867899631601, + 773.539274612607, + -1.2821245403710813 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-14_1303785506/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-14_1303785506/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d5aad649b388529ec8f6709e7dca604660f99fc9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-24-14_1303785506/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 101.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 104.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 107.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 110.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 113.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 116.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 119.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 122.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 125.41791637236106, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 128.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 131.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 134.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 137.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 140.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 143.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 146.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 149.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 152.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 155.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 158.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 161.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 164.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 167.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 170.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 173.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 176.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 179.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 182.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 185.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 188.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 191.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 191.41791637236105, + 781.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 194.01599258371436, + 780.1805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 196.61406879506768, + 778.6805864835519, + -1.321030238963866 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 199.212145006421, + 777.1805864835519, + -1.321030238963866 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-27-28_2047140186/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-27-28_2047140186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a940bf7bdd5acede8dcbc23be3bab640643f1793 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-27-28_2047140186/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 380.8703540767422, + 514.8015453928508, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 383.8703540767422, + 514.8015453928508, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 386.8703540767422, + 514.8015453928508, + 4.468614694609915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 386.8703540767422, + 514.8015453928508, + 4.468614694609915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 386.8703540767422, + 514.8015453928508, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 388.3703540767422, + 517.3996216042042, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 389.8703540767422, + 519.9976978155576, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 391.3703540767422, + 522.5957740269109, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 392.8703540767422, + 525.1938502382643, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 394.3703540767422, + 527.7919264496177, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 395.8703540767422, + 530.390002660971, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 397.3703540767422, + 532.9880788723244, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 398.8703540767422, + 535.5861550836778, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 400.3703540767422, + 538.1842312950312, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 401.8703540767422, + 540.7823075063845, + 4.468614694609915 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 401.8703540767422, + 540.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 404.46843028809553, + 542.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 407.06650649944885, + 543.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 409.66458271080216, + 545.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 412.2626589221555, + 546.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 414.8607351335088, + 548.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 417.4588113448621, + 549.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 420.05688755621543, + 551.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 422.65496376756874, + 552.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 425.25303997892206, + 554.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 427.8511161902754, + 555.7823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 430.4491924016287, + 557.2823075063845, + 4.468614694609915 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 430.4491924016287, + 557.2823075063845, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 431.9491924016287, + 559.8803837177379, + 4.468614694609915 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 433.4491924016287, + 562.4784599290913, + 4.468614694609915 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-28-37_639854683/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-28-37_639854683/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..811286885a877de50b6197840f7588b13ac054e0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-28-37_639854683/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -635.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -632.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -629.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -626.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -623.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -620.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -617.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -614.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -611.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -608.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -605.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -602.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -599.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -596.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -593.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -590.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -587.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -584.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -581.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -578.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -575.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -572.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -569.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -566.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -563.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -560.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -560.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -560.0139910310207, + 187.88720256193076, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -558.5139910310207, + 190.48527877328408, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -557.0139910310207, + 193.0833549846374, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -555.5139910310207, + 195.6814311959907, + -3.453706454424232 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -555.5139910310207, + 195.6814311959907, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -552.9159148196675, + 197.1814311959907, + -3.453706454424232 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -550.3178386083141, + 198.6814311959907, + -3.453706454424232 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-37-49_545343058/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-37-49_545343058/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d19f4dd9c3cf1cdcb0d857f53c1b59e63dd0767a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-37-49_545343058/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 346.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 343.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 340.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 337.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 334.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 331.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 328.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 325.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 322.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 319.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 316.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 313.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 310.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 307.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 304.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 301.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 298.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 295.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 292.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 289.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 286.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 283.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 280.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 277.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 274.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 271.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 268.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 265.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 262.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 262.8949535585381, + 708.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 260.29687734718476, + 707.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 257.69880113583145, + 705.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 255.10072492447813, + 704.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 252.5026487131248, + 702.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 249.9045725017715, + 701.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 247.30649629041818, + 699.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 244.70842007906487, + 698.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 242.11034386771155, + 696.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 239.51226765635823, + 695.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 236.91419144500492, + 693.5381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 234.3161152336516, + 692.0381971340324, + -0.21623521219141484 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 231.71803902229829, + 690.5381971340324, + -0.21623521219141484 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 229.7172834777832, + 692.2608906555175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-38-43_1367858053/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-38-43_1367858053/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bfc08124989f966fa7a017cfc0f07eec535745fa --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-38-43_1367858053/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -57.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -54.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -51.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -48.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -45.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -42.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -39.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -36.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -33.74367646770425, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -30.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -27.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -24.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -21.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -18.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -15.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -12.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -9.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -6.743676467704248, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -3.7436764677042476, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -0.7436764677042476, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 2.2563235322957524, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 5.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 8.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 11.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 14.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 17.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 20.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 23.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 26.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 29.256323532295752, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 32.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 35.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 38.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 41.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 44.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 44.25632353229575, + 0.15857860430615034, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 46.85439974364907, + -1.3414213956938494, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 49.452475955002384, + -2.841421395693849, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 52.0505521663557, + -4.341421395693849, + -4.545086188619463 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982987 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 54.64862837770902, + -5.841421395693849, + -4.545086188619463 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982987 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-40-27_61535680/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-40-27_61535680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea567def4a7a96516a9e044d66c48c32f826f302 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-40-27_61535680/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -779.3871094226333, + -34.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -781.9851856339867, + -32.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -784.5832618453401, + -31.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -787.1813380566934, + -29.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -789.7794142680468, + -28.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -792.3774904794002, + -26.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -794.9755666907536, + -25.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -797.5736429021069, + -23.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -800.1717191134603, + -22.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -802.7697953248137, + -20.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -805.3678715361671, + -19.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -807.9659477475204, + -17.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -810.5640239588738, + -16.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -813.1621001702272, + -14.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -815.7601763815805, + -13.341932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -818.3582525929339, + -11.841932741886055, + 4.9242390201559125 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -818.3582525929339, + -11.841932741886055, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -819.8582525929339, + -9.243856530532739, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -821.3582525929339, + -6.645780319179423, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -822.8582525929339, + -4.047704107826107, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -824.3582525929339, + -1.4496278964727907, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -825.8582525929339, + 1.1484483148805253, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -827.3582525929339, + 3.7465245262338414, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -828.8582525929339, + 6.344600737587157, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -830.3582525929339, + 8.942676948940473, + 4.9242390201559125 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -831.8582525929339, + 11.54075316029379, + 4.9242390201559125 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -834.8437512207031, + 12.72820457458496, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-19_190833023/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-19_190833023/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f507eb775549d382074aa721ddf1a00c1a3d565 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-42-19_190833023/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 58.15613190002524, + 85.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 58.15613190002524, + 82.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 58.15613190002524, + 79.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 58.15613190002524, + 76.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 58.15613190002524, + 73.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 58.15613190002524, + 70.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 58.15613190002524, + 67.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 58.15613190002524, + 64.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 58.15613190002524, + 61.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 58.15613190002524, + 58.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 58.15613190002524, + 55.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 58.15613190002524, + 52.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 58.15613190002524, + 49.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 58.15613190002524, + 46.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 58.15613190002524, + 43.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 58.15613190002524, + 40.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 58.15613190002524, + 37.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 58.15613190002524, + 34.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 58.15613190002524, + 31.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 58.15613190002524, + 28.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 58.15613190002524, + 25.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 58.15613190002524, + 22.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 58.15613190002524, + 19.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 58.15613190002524, + 16.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 58.15613190002524, + 13.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 58.15613190002524, + 10.04380498902978, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 58.15613190002524, + 7.0438049890297805, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 58.15613190002524, + 4.0438049890297805, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 58.15613190002524, + 1.0438049890297805, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.15613190002524, + -1.9561950109702195, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 58.15613190002524, + -4.9561950109702195, + 0.9612334091844463 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 58.15613190002524, + -7.9561950109702195, + 0.9612334091844463 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-43-8_1595930242/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-43-8_1595930242/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec08e847e276e34d630e1e9154be56e8e88c0d1e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-43-8_1595930242/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -914.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -917.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -920.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -923.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -926.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -929.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -932.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -935.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -938.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -941.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -944.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -947.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -950.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -953.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -956.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -959.2481429407802, + 354.9917064416486, + 3.6461912238033847 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-48-34_1004642738/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-48-34_1004642738/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..516adff5f05155bb9526a1453ca70abd865dc081 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-48-34_1004642738/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 249.38453678913996, + 763.8065329714944, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 247.88453678913996, + 761.2084567601412, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 246.38453678913996, + 758.6103805487878, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 244.88453678913996, + 756.0123043374344, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 243.38453678913996, + 753.4142281260811, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 241.88453678913996, + 750.8161519147277, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 240.38453678913996, + 748.2180757033743, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 238.88453678913996, + 745.619999492021, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 237.38453678913996, + 743.0219232806676, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 235.88453678913996, + 740.4238470693142, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 234.38453678913996, + 737.8257708579608, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 232.88453678913996, + 735.2276946466075, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 231.38453678913996, + 732.6296184352541, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 229.88453678913996, + 730.0315422239007, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 228.38453678913996, + 727.4334660125473, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 226.88453678913996, + 724.835389801194, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 225.38453678913996, + 722.2373135898406, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 223.88453678913996, + 719.6392373784872, + 0.5231132991041623 + ], + "type": "turn left", + "value": 30, + "yaw": -2.094395102393186 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 223.88453678913996, + 719.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948872 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 223.88453678913996, + 716.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 223.88453678913996, + 713.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 223.88453678913996, + 710.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 223.88453678913996, + 707.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 223.88453678913996, + 704.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 223.88453678913996, + 701.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 223.88453678913996, + 698.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 223.88453678913996, + 695.6392373784872, + 0.5231132991041623 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 223.88453678913996, + 692.6392373784872, + 0.5231132991041623 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-3_80869451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-3_80869451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..81ac276dcba8876c40ac373e6d133b64dbf409d7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-57-3_80869451/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -244.01793669619832, + -518.2593031209686, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.419860484845, + -516.7593031209686, + 3.564501626831877 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -241.419860484845, + -516.7593031209686, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -239.919860484845, + -514.1612269096154, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -238.419860484845, + -511.56315069826206, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -236.919860484845, + -508.96507448690875, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -235.419860484845, + -506.36699827555543, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -233.919860484845, + -503.7689220642021, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.419860484845, + -501.1708458528488, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -230.919860484845, + -498.5727696414955, + 3.564501626831877 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -230.919860484845, + -498.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -228.3217842734917, + -497.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -225.72370806213837, + -495.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -223.12563185078506, + -494.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -220.52755563943174, + -492.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -217.92947942807842, + -491.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -215.3314032167251, + -489.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -212.7333270053718, + -488.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -210.13525079401848, + -486.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -207.53717458266516, + -485.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -204.93909837131184, + -483.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -202.34102215995853, + -482.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -199.7429459486052, + -480.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -197.1448697372519, + -479.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -194.54679352589858, + -477.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -191.94871731454526, + -476.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -189.35064110319195, + -474.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -186.75256489183863, + -473.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -184.15448868048531, + -471.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -181.556412469132, + -470.0727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -178.95833625777868, + -468.5727696414955, + 3.564501626831877 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -176.36026004642537, + -467.0727696414955, + 3.564501626831877 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-8-41_243110911/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-8-41_243110911/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9ee900f7b6a5fd7076ab1597dee5d0251b3b4c51 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-8-41_243110911/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 154.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 151.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 148.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 145.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 142.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 139.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 136.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 133.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 130.3209366590783, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 127.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 124.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 121.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 118.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 115.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 112.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 109.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 106.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 103.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 100.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 97.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 94.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 91.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 88.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 85.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 82.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 79.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 76.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 73.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 70.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 67.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 64.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 61.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 58.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 55.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 52.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 49.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 46.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 43.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 40.32093665907831, + 160.9651298088172, + -4.3212259963725055 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 36.64368785858154, + 161.94002262115478, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-57_601698078/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-57_601698078/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..239d96ec65e649fc913f40efbcfb737dbc95ec56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_3-9-57_601698078/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -637.1818622999472, + 165.98975439480222, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -638.6818622999472, + 168.58783060615553, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -640.1818622999472, + 171.18590681750885, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -641.6818622999472, + 173.78398302886217, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -643.1818622999472, + 176.38205924021548, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -644.6818622999472, + 178.9801354515688, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -646.1818622999472, + 181.57821166292212, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -647.6818622999472, + 184.17628787427543, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -649.1818622999472, + 186.77436408562875, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -650.6818622999472, + 189.37244029698206, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -652.1818622999472, + 191.97051650833538, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -653.6818622999472, + 194.5685927196887, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -655.1818622999472, + 197.166668931042, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -656.6818622999472, + 199.76474514239533, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -658.1818622999472, + 202.36282135374864, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.6818622999472, + 204.96089756510196, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -661.1818622999472, + 207.55897377645528, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -662.6818622999472, + 210.1570499878086, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -664.1818622999472, + 212.7551261991619, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -665.6818622999472, + 215.35320241051522, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -667.1818622999472, + 217.95127862186854, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.6818622999472, + 220.54935483322186, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.1818622999472, + 223.14743104457517, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -671.6818622999472, + 225.7455072559285, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -673.1818622999472, + 228.3435834672818, + -4.123945099388831 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -673.1818622999472, + 228.3435834672818, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -675.7799385113005, + 229.8435834672818, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -678.3780147226539, + 231.3435834672818, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -680.9760909340073, + 232.8435834672818, + -4.123945099388831 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -683.5741671453607, + 234.3435834672818, + -4.123945099388831 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-10-33_286983804/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-10-33_286983804/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a179cfa55693734d2b06699c0b3fa713608cbdb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-10-33_286983804/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -156.22461292940238, + 299.59423325435165, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -154.72461292940238, + 302.19230946570497, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -153.22461292940238, + 304.7903856770583, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -151.72461292940238, + 307.3884618884116, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -150.22461292940238, + 309.9865380997649, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -148.72461292940238, + 312.58461431111823, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -147.22461292940238, + 315.18269052247155, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -145.72461292940238, + 317.78076673382486, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -144.22461292940238, + 320.3788429451782, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -142.72461292940238, + 322.9769191565315, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -141.22461292940238, + 325.5749953678848, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -139.72461292940238, + 328.1730715792381, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -138.22461292940238, + 330.77114779059144, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -136.72461292940238, + 333.36922400194476, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -135.22461292940238, + 335.9673002132981, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -133.72461292940238, + 338.5653764246514, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -132.22461292940238, + 341.1634526360047, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -130.72461292940238, + 343.761528847358, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -129.22461292940238, + 346.35960505871134, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -127.72461292940238, + 348.95768127006465, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -126.22461292940238, + 351.55575748141797, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -124.72461292940238, + 354.1538336927713, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -123.22461292940238, + 356.7519099041246, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -121.72461292940238, + 359.3499861154779, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -120.22461292940238, + 361.94806232683123, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -118.72461292940238, + 364.54613853818455, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -117.22461292940238, + 367.14421474953787, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -115.72461292940238, + 369.7422909608912, + 0.13097621331441633 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -115.72461292940238, + 369.7422909608912, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -115.72461292940238, + 372.7422909608912, + 0.13097621331441633 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -115.72461292940238, + 375.7422909608912, + 0.13097621331441633 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-19-17_903633726/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-19-17_903633726/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e7a78c87c73b5663133ff6fa1fab7f8e48732f02 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-19-17_903633726/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -345.13487855042473, + 641.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -345.13487855042473, + 638.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -345.13487855042473, + 635.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -345.13487855042473, + 632.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -345.13487855042473, + 629.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -345.13487855042473, + 626.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -345.13487855042473, + 623.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -345.13487855042473, + 620.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -345.13487855042473, + 617.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -345.13487855042473, + 614.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -345.13487855042473, + 611.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -345.13487855042473, + 608.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -345.13487855042473, + 605.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -345.13487855042473, + 602.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -345.13487855042473, + 599.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -345.13487855042473, + 596.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -345.13487855042473, + 593.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -345.13487855042473, + 590.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -345.13487855042473, + 587.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -345.13487855042473, + 584.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -345.13487855042473, + 581.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -345.13487855042473, + 578.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -345.13487855042473, + 575.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.13487855042473, + 572.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -345.13487855042473, + 569.3254431822531, + -3.115346696886015 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -345.13487855042473, + 569.3254431822531, + -3.115346696886015 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -345.13487855042473, + 569.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982989 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -342.5368023390714, + 567.8254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -339.9387261277181, + 566.3254431822531, + -3.115346696886015 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -337.3406499163648, + 564.8254431822531, + -3.115346696886015 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-3-21_2042028215/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-3-21_2042028215/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ba285f00940efba40a9159c96c89c13df0d0e5b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-3-21_2042028215/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -351.693762817569, + -451.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -351.693762817569, + -448.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -351.693762817569, + -445.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -351.693762817569, + -442.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -351.693762817569, + -439.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -351.693762817569, + -436.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -351.693762817569, + -433.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -351.693762817569, + -430.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -351.693762817569, + -427.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -351.693762817569, + -424.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -351.693762817569, + -421.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -351.693762817569, + -418.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -351.693762817569, + -415.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -351.693762817569, + -412.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -351.693762817569, + -409.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -351.693762817569, + -406.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -351.693762817569, + -403.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -351.693762817569, + -400.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -351.693762817569, + -397.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -351.693762817569, + -394.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -351.693762817569, + -391.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -351.693762817569, + -388.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -351.693762817569, + -385.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -351.693762817569, + -382.0542134314542, + 4.306831701895801 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -351.693762817569, + -379.0542134314542, + 4.306831701895801 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-30-7_878786386/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-30-7_878786386/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8a53d6796f540337b4d31b0de37ae0e8ae20d8c9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-30-7_878786386/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -374.1650427542524, + 664.2735323002629, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -372.6650427542524, + 666.8716085116162, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -371.1650427542524, + 669.4696847229695, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -369.6650427542524, + 672.0677609343229, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -368.1650427542524, + 674.6658371456763, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -366.6650427542524, + 677.2639133570297, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -365.1650427542524, + 679.861989568383, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -363.6650427542524, + 682.4600657797364, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -362.1650427542524, + 685.0581419910898, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -360.6650427542524, + 687.6562182024431, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -359.1650427542524, + 690.2542944137965, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -357.6650427542524, + 692.8523706251499, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -356.1650427542524, + 695.4504468365033, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -354.6650427542524, + 698.0485230478566, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -353.1650427542524, + 700.64659925921, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -351.6650427542524, + 703.2446754705634, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.1650427542524, + 705.8427516819168, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -348.6650427542524, + 708.4408278932701, + 4.320145741807689 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -348.6650427542524, + 708.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -348.6650427542524, + 711.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -348.6650427542524, + 714.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -348.6650427542524, + 717.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -348.6650427542524, + 720.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -348.6650427542524, + 723.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -348.6650427542524, + 726.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.6650427542524, + 729.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -348.6650427542524, + 732.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -348.6650427542524, + 735.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -348.6650427542524, + 738.4408278932701, + 4.320145741807689 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -348.6650427542524, + 741.4408278932701, + 4.320145741807689 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-31-57_356341138/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-31-57_356341138/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9d2c0907a68cf127bb160e19a6f8b45c1f3f82d2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-31-57_356341138/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -303.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -306.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -309.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -312.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -315.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -321.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -324.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -327.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -330.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -333.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -336.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -339.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -342.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -345.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -348.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -351.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -354.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -357.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -360.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -363.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -366.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -369.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -372.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -375.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -378.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -381.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -384.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -387.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -390.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -393.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -393.7912756850334, + 476.58060030071056, + 3.956777648902426 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -396.3893518963867, + 478.08060030071056, + 3.956777648902426 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-42-1_136561149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-42-1_136561149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..005a75751276a2435d555ea2d13876e215cf556d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-42-1_136561149/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -914.1703226232303, + 401.6299605493326, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -915.6703226232303, + 399.0318843379793, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -917.1703226232303, + 396.433808126626, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -918.6703226232303, + 393.8357319152727, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -920.1703226232303, + 391.23765570391936, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -921.6703226232303, + 388.63957949256604, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -923.1703226232303, + 386.0415032812127, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -924.6703226232303, + 383.4434270698594, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -926.1703226232303, + 380.8453508585061, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -927.6703226232303, + 378.2472746471528, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -929.1703226232303, + 375.64919843579946, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -930.6703226232303, + 373.05112222444615, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -932.1703226232303, + 370.45304601309283, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -933.6703226232303, + 367.8549698017395, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -935.1703226232303, + 365.2568935903862, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -936.6703226232303, + 362.6588173790329, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -938.1703226232303, + 360.06074116767957, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -939.6703226232303, + 357.46266495632625, + 3.831587508171703 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -939.6703226232303, + 357.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -939.6703226232303, + 354.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -939.6703226232303, + 351.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.6703226232303, + 348.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -939.6703226232303, + 345.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -939.6703226232303, + 342.46266495632625, + 3.831587508171703 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -939.6703226232303, + 342.46266495632625, + 3.831587508171703 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -941.1703226232303, + 339.86458874497293, + 3.831587508171703 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-43-3_726764303/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-43-3_726764303/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4f5a4dd8b048be2212f6428f488786176b4ef845 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-43-3_726764303/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -847.6015749571332, + 221.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -845.0034987457798, + 219.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -842.4054225344264, + 218.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -839.807346323073, + 216.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -837.2092701117197, + 215.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -834.6111939003663, + 213.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -832.0131176890129, + 212.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -829.4150414776595, + 210.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -826.8169652663062, + 209.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -824.2188890549528, + 207.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -821.6208128435994, + 206.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -819.022736632246, + 204.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -816.4246604208927, + 203.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -813.8265842095393, + 201.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -811.2285079981859, + 200.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -808.6304317868326, + 198.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -806.0323555754792, + 197.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -803.4342793641258, + 195.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -800.8362031527724, + 194.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -798.2381269414191, + 192.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -795.6400507300657, + 191.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -793.0419745187123, + 189.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -790.443898307359, + 188.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -787.8458220960056, + 186.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -785.2477458846522, + 185.4570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -782.6496696732988, + 183.9570989690516, + 2.0136217591970107 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -780.0515934619455, + 182.4570989690516, + 2.0136217591970107 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-46-6_317992893/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-46-6_317992893/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4a9b34f856233f216149d7a6846cac7d930fbc30 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-46-6_317992893/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -925.3656249428304, + 257.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -925.3656249428304, + 260.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -925.3656249428304, + 263.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -925.3656249428304, + 266.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -925.3656249428304, + 269.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -925.3656249428304, + 272.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -925.3656249428304, + 275.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -925.3656249428304, + 278.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -925.3656249428304, + 281.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -925.3656249428304, + 284.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -925.3656249428304, + 287.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -925.3656249428304, + 290.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -925.3656249428304, + 293.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -925.3656249428304, + 296.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -925.3656249428304, + 299.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -925.3656249428304, + 302.75522527090516, + 2.272703579799561 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -925.3656249428304, + 302.75522527090516, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -926.8656249428304, + 305.3533014822585, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -928.3656249428304, + 307.9513776936118, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -929.8656249428304, + 310.5494539049651, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -931.3656249428304, + 313.1475301163184, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -932.8656249428304, + 315.74560632767174, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -934.3656249428304, + 318.34368253902505, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -935.8656249428304, + 320.94175875037837, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -937.3656249428304, + 323.5398349617317, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -938.8656249428304, + 326.137911173085, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -940.3656249428304, + 328.7359873844383, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -941.8656249428304, + 331.33406359579163, + 2.272703579799561 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -943.3656249428304, + 333.93213980714495, + 2.272703579799561 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -942.5730328369141, + 336.42247901916505, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-49-15_504760186/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-49-15_504760186/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1f1ccc174fb938d951ce8fb8d0868d0533405ee4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-49-15_504760186/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -682.8365557297677, + 85.84931033341228, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -684.3365557297677, + 88.44738654476559, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -685.8365557297677, + 91.04546275611891, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -687.3365557297677, + 93.64353896747222, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.8365557297677, + 96.24161517882554, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -690.3365557297677, + 98.83969139017886, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -691.8365557297677, + 101.43776760153217, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -693.3365557297677, + 104.03584381288549, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -694.8365557297677, + 106.6339200242388, + 1.25418177052725 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -694.8365557297677, + 106.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -697.4346319411211, + 108.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -700.0327081524745, + 109.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -702.6307843638278, + 111.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -705.2288605751812, + 112.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -707.8269367865346, + 114.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -710.425012997888, + 115.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -713.0230892092413, + 117.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -715.6211654205947, + 118.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -718.2192416319481, + 120.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -720.8173178433015, + 121.6339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -723.4153940546548, + 123.1339200242388, + 1.25418177052725 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -723.4153940546548, + 123.1339200242388, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -724.9153940546548, + 125.73199623559212, + 1.25418177052725 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -726.4153940546548, + 128.33007244694545, + 1.25418177052725 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-5-7_65339680/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-5-7_65339680/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..544b07b3855b8eee394da719331e20be7d7fa1d6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-5-7_65339680/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -799.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -796.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -793.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -790.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -787.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -784.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -781.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -778.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -775.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -772.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -769.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -766.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -763.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -760.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -757.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -754.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -751.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -748.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -745.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -742.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -739.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -736.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -733.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -730.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -727.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -724.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -721.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -718.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -715.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -712.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -709.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -706.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -703.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -697.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -697.5100830449792, + 266.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -694.9120068336258, + 265.4473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -692.3139306222724, + 263.9473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -689.7158544109191, + 262.4473754713646, + -4.011394675606556 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -687.1177781995657, + 260.9473754713646, + -4.011394675606556 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-29_990217934/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-29_990217934/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e952e1603eae57b6307b21162f86472321c15d45 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-55-29_990217934/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -864.8175920252589, + 262.5170042665605, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -866.3175920252589, + 259.9189280552072, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -867.8175920252589, + 257.32085184385386, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -869.3175920252589, + 254.72277563250054, + 2.2396927477024757 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -869.3175920252589, + 254.72277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -871.9156682366122, + 253.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -874.5137444479656, + 251.72277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -877.1118206593189, + 250.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -879.7098968706723, + 248.72277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -882.3079730820257, + 247.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -884.906049293379, + 245.72277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -887.5041255047324, + 244.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -890.1022017160858, + 242.72277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -892.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -892.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -895.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -898.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -901.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -904.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -907.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -910.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -913.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -916.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -919.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -922.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -925.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -928.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -931.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -934.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -937.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -940.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -943.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -946.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -949.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -952.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -955.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -958.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -961.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -964.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -967.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -970.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -973.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -976.7002779274392, + 241.22277563250054, + 2.2396927477024757 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-26_1875638893/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-26_1875638893/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53f4ef0158197f7bb93b03bd1ed2f901c3fbbed4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-26_1875638893/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -438.08680603727277, + -178.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -440.6848822486261, + -180.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -443.2829584599794, + -181.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -445.8810346713327, + -183.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -448.47911088268603, + -184.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -451.07718709403935, + -186.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -453.67526330539266, + -187.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -456.273339516746, + -189.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -458.8714157280993, + -190.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -461.4694919394526, + -192.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -464.0675681508059, + -193.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -466.66564436215924, + -195.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -469.26372057351256, + -196.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -471.8617967848659, + -198.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -474.4598729962192, + -199.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -477.0579492075725, + -201.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -479.6560254189258, + -202.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -482.25410163027914, + -204.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -484.85217784163245, + -205.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -487.45025405298577, + -207.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -490.0483302643391, + -208.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -492.6464064756924, + -210.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -495.2444826870457, + -211.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -497.84255889839903, + -213.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -500.44063510975235, + -214.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -503.03871132110567, + -216.18063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -505.636787532459, + -217.68063672384272, + -2.1916411470973465 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -508.2348637438123, + -219.18063672384272, + -2.1916411470973465 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -510.5901588439941, + -220.83477218627928, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-6_625288549/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-6_625288549/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ae8e100c5c746457e0321528b52a693ecae4945 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-56-6_625288549/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -299.03126252628647, + -580.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -299.03126252628647, + -577.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -299.03126252628647, + -574.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -299.03126252628647, + -571.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -299.03126252628647, + -568.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -299.03126252628647, + -565.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -299.03126252628647, + -562.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -299.03126252628647, + -559.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -299.03126252628647, + -556.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.03126252628647, + -553.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -299.03126252628647, + -550.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -299.03126252628647, + -547.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -299.03126252628647, + -544.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -299.03126252628647, + -541.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -299.03126252628647, + -538.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -299.03126252628647, + -535.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -299.03126252628647, + -532.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -299.03126252628647, + -529.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -299.03126252628647, + -526.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -299.03126252628647, + -523.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -299.03126252628647, + -520.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -299.03126252628647, + -517.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -299.03126252628647, + -514.5861664202453, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -299.03126252628647, + -511.58616642024526, + 3.9698474937414368 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -299.03126252628647, + -511.58616642024526, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -297.53126252628647, + -508.98809020889195, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -296.03126252628647, + -506.39001399753863, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -294.53126252628647, + -503.7919377861853, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -293.03126252628647, + -501.193861574832, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -291.53126252628647, + -498.5957853634787, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -290.03126252628647, + -495.99770915212537, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -288.53126252628647, + -493.39963294077205, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -287.03126252628647, + -490.80155672941873, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -285.53126252628647, + -488.2034805180654, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -284.03126252628647, + -485.6054043067121, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -282.53126252628647, + -483.0073280953588, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -281.03126252628647, + -480.40925188400547, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -279.53126252628647, + -477.81117567265215, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -278.03126252628647, + -475.21309946129884, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -276.53126252628647, + -472.6150232499455, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -275.03126252628647, + -470.0169470385922, + 3.9698474937414368 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -273.53126252628647, + -467.4188708272389, + 3.9698474937414368 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -270.6246540832519, + -464.87673126220704, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-6-56_1206674446/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-6-56_1206674446/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b756170a6f31164ac6135dece84d2206f86e1ecf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-6-56_1206674446/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -489.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -486.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -483.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -480.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -477.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -474.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -471.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -468.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -465.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -462.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -459.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -456.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -453.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -450.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -447.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -444.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -441.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -438.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -435.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -435.4974499520815, + -158.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -432.8993737407282, + -159.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -430.3012975293749, + -161.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -427.7032213180216, + -162.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -425.10514510666826, + -164.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -422.50706889531494, + -165.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -419.9089926839616, + -167.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -417.3109164726083, + -168.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -414.712840261255, + -170.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -412.1147640499017, + -171.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -409.51668783854836, + -173.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -406.91861162719505, + -174.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -404.32053541584173, + -176.38789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -401.7224592044884, + -177.88789380147026, + 4.187217181568968 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -401.7224592044884, + -177.88789380147026, + 4.187217181568968 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -398.7224592044884, + -177.88789380147026, + 4.187217181568968 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-38_959171794/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-38_959171794/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cc12d5bc220a97bc1a163955e558abba06dfb5a5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_4-9-38_959171794/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -249.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -246.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -243.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -240.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -234.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -231.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -228.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -225.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -222.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -219.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -216.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -213.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -210.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -207.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -204.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -201.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -198.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -195.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -192.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -189.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -186.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -183.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -180.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -177.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -177.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -177.12814581826856, + -43.70141522272809, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -175.62814581826856, + -46.2994914340814, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -174.12814581826856, + -48.89756764543472, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -172.62814581826856, + -51.495643856788035, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -171.12814581826856, + -54.09372006814135, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -169.62814581826856, + -56.69179627949467, + 1.8343820930496966 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -169.62814581826856, + -56.69179627949467, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -167.03006960691525, + -58.19179627949467, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -164.43199339556193, + -59.69179627949467, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -161.83391718420862, + -61.19179627949467, + 1.8343820930496966 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -159.2358409728553, + -62.69179627949467, + 1.8343820930496966 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-1-15_2135693054/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-1-15_2135693054/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2ec954dd890ed119c0892afbb39e8367d436cbb0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-1-15_2135693054/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -734.0248959325652, + 3.5607259720515287, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -735.5248959325652, + 6.158802183404845, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -737.0248959325652, + 8.75687839475816, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -738.5248959325652, + 11.354954606111477, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -740.0248959325652, + 13.953030817464793, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -741.5248959325652, + 16.55110702881811, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -743.0248959325652, + 19.149183240171425, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -744.5248959325652, + 21.74725945152474, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -746.0248959325652, + 24.345335662878057, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -747.5248959325652, + 26.943411874231373, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -749.0248959325652, + 29.54148808558469, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -750.5248959325652, + 32.139564296938005, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -752.0248959325652, + 34.73764050829132, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -753.5248959325652, + 37.33571671964464, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -755.0248959325652, + 39.93379293099795, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -756.5248959325652, + 42.53186914235127, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -758.0248959325652, + 45.129945353704585, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -759.5248959325652, + 47.7280215650579, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -761.0248959325652, + 50.32609777641122, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -762.5248959325652, + 52.92417398776453, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -764.0248959325652, + 55.52225019911785, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.5248959325652, + 58.120326410471165, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -767.0248959325652, + 60.71840262182448, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -768.5248959325652, + 63.3164788331778, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -770.0248959325652, + 65.91455504453111, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -771.5248959325652, + 68.51263125588443, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -773.0248959325652, + 71.11070746723775, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -774.5248959325652, + 73.70878367859106, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -776.0248959325652, + 76.30685988994438, + -2.4096957581512237 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -776.0248959325652, + 76.30685988994438, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -778.6229721439186, + 77.80685988994438, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -781.2210483552719, + 79.30685988994438, + -2.4096957581512237 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -783.8191245666253, + 80.80685988994438, + -2.4096957581512237 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -785.9369680786133, + 81.05284317016601, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-13-41_201345764/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-13-41_201345764/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..096752c6591b9536461ac538316bb91e9576765e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-13-41_201345764/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 135.54740621436082, + 35.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 132.9493300030075, + 34.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 130.3512537916542, + 32.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 127.75317758030087, + 31.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 125.15510136894756, + 29.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 122.55702515759424, + 28.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 119.95894894624092, + 26.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 117.36087273488761, + 25.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 114.76279652353429, + 23.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 112.16472031218098, + 22.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 109.56664410082766, + 20.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 106.96856788947434, + 19.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 104.37049167812103, + 17.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 101.77241546676771, + 16.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 99.1743392554144, + 14.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 96.57626304406108, + 13.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 93.97818683270776, + 11.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 91.38011062135445, + 10.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 88.78203441000113, + 8.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 86.18395819864782, + 7.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 83.5858819872945, + 5.54767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 80.98780577594118, + 4.04767050112163, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 78.38972956458787, + 2.5476705011216296, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 75.79165335323455, + 1.0476705011216298, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 73.19357714188124, + -0.45232949887836993, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 70.59550093052792, + -1.9523294988783697, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 67.9974247191746, + -3.4523294988783695, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 65.39934850782129, + -4.9523294988783695, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 62.80127229646797, + -6.4523294988783695, + -4.547258811848401 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 60.203196085114655, + -7.9523294988783695, + -4.547258811848401 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-24-52_375487534/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-24-52_375487534/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb88d506fb9d3dded34453a490c057b43dbcad63 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-24-52_375487534/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -668.8640630174949, + -258.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -668.8640630174949, + -255.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -668.8640630174949, + -252.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -668.8640630174949, + -249.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -668.8640630174949, + -246.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -668.8640630174949, + -243.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -668.8640630174949, + -240.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -668.8640630174949, + -237.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -668.8640630174949, + -234.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -668.8640630174949, + -231.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -668.8640630174949, + -228.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -668.8640630174949, + -225.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -668.8640630174949, + -222.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -668.8640630174949, + -219.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -668.8640630174949, + -216.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -668.8640630174949, + -213.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -668.8640630174949, + -210.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -668.8640630174949, + -207.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -668.8640630174949, + -204.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -668.8640630174949, + -201.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -668.8640630174949, + -198.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -668.8640630174949, + -195.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -668.8640630174949, + -192.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -668.8640630174949, + -189.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -668.8640630174949, + -186.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -668.8640630174949, + -183.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -668.8640630174949, + -180.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -668.8640630174949, + -177.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -668.8640630174949, + -174.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -668.8640630174949, + -171.0935373479321, + -3.189726861763799 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -668.8640630174949, + -171.0935373479321, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -667.3640630174949, + -168.4954611365788, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -665.8640630174949, + -165.89738492522548, + -3.189726861763799 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -664.3640630174949, + -163.29930871387216, + -3.189726861763799 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-24_1616757669/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-24_1616757669/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6c69dc2643116311704d319aca8a23ba2a1ab0a0 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-24_1616757669/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -928.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -931.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -934.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -937.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -940.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -943.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -946.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -949.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -952.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -955.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -958.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -961.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -964.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -970.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -973.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -976.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -979.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -982.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -985.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -988.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -991.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -991.2578114653418, + 273.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -993.8558876766951, + 275.0867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -996.4539638880485, + 276.5867796165034, + 4.106945688510335 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -999.0520400994019, + 278.0867796165034, + 4.106945688510335 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-57_361261451/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-57_361261451/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6b4e391d1d43c835279b2819eb587efd4a32bdde --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-26-57_361261451/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -613.349787325623, + 148.79160548657111, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -614.849787325623, + 146.1935292752178, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -616.349787325623, + 143.59545306386448, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -617.849787325623, + 140.99737685251117, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -619.349787325623, + 138.39930064115785, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -620.849787325623, + 135.80122442980453, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -622.349787325623, + 133.20314821845122, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -623.849787325623, + 130.6050720070979, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -625.349787325623, + 128.0069957957446, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -626.849787325623, + 125.40891958439127, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -628.349787325623, + 122.81084337303795, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -629.849787325623, + 120.21276716168464, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -631.349787325623, + 117.61469095033132, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -632.849787325623, + 115.016614738978, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -634.349787325623, + 112.41853852762469, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -635.849787325623, + 109.82046231627137, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -637.349787325623, + 107.22238610491806, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -638.849787325623, + 104.62430989356474, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -640.349787325623, + 102.02623368221143, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -641.849787325623, + 99.42815747085811, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -643.349787325623, + 96.8300812595048, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -644.849787325623, + 94.23200504815148, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -646.349787325623, + 91.63392883679816, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -647.849787325623, + 89.03585262544485, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -649.349787325623, + 86.43777641409153, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -650.849787325623, + 83.83970020273821, + -3.9406887939993975 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -652.349787325623, + 81.2416239913849, + -3.9406887939993975 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -655.7620668029786, + 80.36062210083007, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-11_2092503157/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-11_2092503157/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8ecafa688a6c22f26a5fe6d175d96df631c1e3ea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-27-11_2092503157/pose.jsonl @@ -0,0 +1,170 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -965.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -968.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -971.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -974.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -977.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -980.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -983.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -986.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -989.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -992.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -995.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -998.8339632428718, + 296.06811240518107, + -4.557554755174975 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-30-4_66493503/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-30-4_66493503/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0970d3b0eccc5139fba76cf124e8027947558330 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-30-4_66493503/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 162.9038395700777, + 671.7609385328046, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 164.4038395700777, + 674.359014744158, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 165.9038395700777, + 676.9570909555114, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 167.4038395700777, + 679.5551671668647, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 168.9038395700777, + 682.1532433782181, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 170.4038395700777, + 684.7513195895715, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 171.9038395700777, + 687.3493958009249, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 173.4038395700777, + 689.9474720122782, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 174.9038395700777, + 692.5455482236316, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 176.4038395700777, + 695.143624434985, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 177.9038395700777, + 697.7417006463384, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 179.4038395700777, + 700.3397768576917, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 180.9038395700777, + 702.9378530690451, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 182.4038395700777, + 705.5359292803985, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 183.9038395700777, + 708.1340054917519, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 185.4038395700777, + 710.7320817031052, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 186.9038395700777, + 713.3301579144586, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 188.4038395700777, + 715.928234125812, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 189.9038395700777, + 718.5263103371653, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 191.4038395700777, + 721.1243865485187, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 192.9038395700777, + 723.7224627598721, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 194.4038395700777, + 726.3205389712255, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 195.9038395700777, + 728.9186151825788, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 197.4038395700777, + 731.5166913939322, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 198.9038395700777, + 734.1147676052856, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 200.4038395700777, + 736.712843816639, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 201.9038395700777, + 739.3109200279923, + 4.047798508153422 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 201.9038395700777, + 739.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 201.9038395700777, + 742.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 201.9038395700777, + 745.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 201.9038395700777, + 748.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 201.9038395700777, + 751.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 201.9038395700777, + 754.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 201.9038395700777, + 757.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 201.9038395700777, + 760.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 201.9038395700777, + 763.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 201.9038395700777, + 766.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 201.9038395700777, + 769.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 201.9038395700777, + 772.3109200279923, + 4.047798508153422 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 201.9038395700777, + 775.3109200279923, + 4.047798508153422 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 201.67972503662108, + 776.560556640625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-32-31_2119389304/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-32-31_2119389304/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2e1b0edad74cb420945c491e7adc0f59dbccf3f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-32-31_2119389304/pose.jsonl @@ -0,0 +1,131 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 482.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 485.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 488.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 491.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 494.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 494.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 494.63175360256673, + 387.6189165234939, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 496.13175360256673, + 390.2169927348472, + 0.2731281507790273 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 497.63175360256673, + 392.81506894620054, + 0.2731281507790273 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-35-39_1571865573/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-35-39_1571865573/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..77e064882b7e7b7113232f3c6aa184163de74f68 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-35-39_1571865573/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -239.1785813239565, + -409.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -241.77665753530982, + -407.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -244.37473374666314, + -406.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -246.97280995801646, + -404.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -249.57088616936977, + -403.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -252.1689623807231, + -401.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -254.7670385920764, + -400.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -257.3651148034297, + -398.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -259.96319101478304, + -397.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -262.56126722613635, + -395.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -265.15934343748967, + -394.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -267.757419648843, + -392.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -270.3554958601963, + -391.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -272.9535720715496, + -389.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -275.55164828290293, + -388.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -278.14972449425625, + -386.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -280.74780070560956, + -385.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -283.3458769169629, + -383.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -285.9439531283162, + -382.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -288.5420293396695, + -380.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -291.1401055510228, + -379.2121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -293.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -293.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -296.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -299.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -302.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -305.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -308.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -311.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -314.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -317.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -320.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -323.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -326.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -329.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -332.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -335.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -338.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -341.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -344.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -347.73818176237614, + -377.7121303106813, + 3.370156172563224 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -348.85303680419923, + -377.0924723815918, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-25_1931525347/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-25_1931525347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6d1a40616ea92bab29c5b9e6869ddfd09dbb2b5b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-38-25_1931525347/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -889.6886563455862, + 429.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -892.2867325569396, + 427.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -894.8848087682929, + 426.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -897.4828849796463, + 424.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -900.0809611909997, + 423.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -902.6790374023531, + 421.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -905.2771136137064, + 420.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -907.8751898250598, + 418.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -910.4732660364132, + 417.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -913.0713422477666, + 415.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -915.6694184591199, + 414.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -918.2674946704733, + 412.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -920.8655708818267, + 411.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -923.46364709318, + 409.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -926.0617233045334, + 408.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -928.6597995158868, + 406.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -931.2578757272402, + 405.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -933.8559519385935, + 403.6056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -936.4540281499469, + 402.1056901057567, + -1.8861599117152972 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -936.4540281499469, + 402.1056901057567, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -937.9540281499469, + 399.5076138944034, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -939.4540281499469, + 396.9095376830501, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -940.9540281499469, + 394.31146147169676, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -942.4540281499469, + 391.71338526034344, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -943.9540281499469, + 389.1153090489901, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -945.4540281499469, + 386.5172328376368, + -1.8861599117152972 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -946.9540281499469, + 383.9191566262835, + -1.8861599117152972 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-9_336728279/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-9_336728279/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..65bcaa908e7d71a66d4f8e030e9388a20396f964 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-43-9_336728279/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -328.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -331.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -334.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -337.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -340.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -343.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -346.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -349.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -352.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -355.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -358.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -361.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -364.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -367.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -370.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -373.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -376.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -379.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -382.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -385.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -388.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -391.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -391.17651097306594, + 40.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -393.77458718441926, + 39.281111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -396.3726633957726, + 37.781111870332, + 2.0633187719778565 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -398.9707396071259, + 36.281111870332, + 2.0633187719778565 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -431.4943495178223, + 32.88219102859497, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-10_1443155027/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-10_1443155027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..164208052af20bb2b3142aac2b332720cbd2e6d9 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-10_1443155027/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -624.4409060855703, + 83.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -627.0389822969237, + 84.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -629.637058508277, + 86.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -632.2351347196304, + 87.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -634.8332109309838, + 89.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -637.4312871423372, + 90.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -640.0293633536905, + 92.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -642.6274395650439, + 93.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -645.2255157763973, + 95.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.8235919877507, + 96.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -650.421668199104, + 98.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -653.0197444104574, + 99.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -655.6178206218108, + 101.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.2158968331642, + 102.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -660.8139730445175, + 104.26833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -663.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -663.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -666.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -669.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -672.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -675.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -678.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -681.4120492558709, + 105.76833524911048, + 1.3302705487374658 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-37_1671067660/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-37_1671067660/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..49dd6f806bd1154ad43f421c1c85e09ca5ddfe99 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-46-37_1671067660/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 423.2312426028179, + -63.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 420.63316639146456, + -65.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 418.03509018011124, + -66.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 415.4370139687579, + -68.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 412.8389377574046, + -69.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 410.2408615460513, + -71.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 407.642785334698, + -72.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 405.04470912334466, + -74.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 402.44663291199134, + -75.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 399.848556700638, + -77.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 397.2504804892847, + -78.66234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 394.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 394.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 391.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 388.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 385.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 382.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 379.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 376.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 373.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 370.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 367.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 364.6524042779314, + -80.16234016941179, + 0.17239129780924234 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 361.61789932250974, + -80.46325607299805, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-47-42_1059789835/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-47-42_1059789835/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a8551f4a6a1d51c41d93940fd452ade280595466 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-47-42_1059789835/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -436.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -433.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -430.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -427.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -424.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -421.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -418.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -415.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -412.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -412.607308819869, + -256.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -410.0092326085157, + -258.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -407.41115639716236, + -259.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -404.81308018580904, + -261.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -402.2150039744557, + -262.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -399.6169277631024, + -264.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -397.0188515517491, + -265.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -394.4207753403958, + -267.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -391.82269912904246, + -268.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -389.22462291768915, + -270.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -386.62654670633583, + -271.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -384.0284704949825, + -273.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -381.4303942836292, + -274.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -378.8323180722759, + -276.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -376.23424186092257, + -277.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -373.63616564956925, + -279.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -371.03808943821593, + -280.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -368.4400132268626, + -282.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -365.8419370155093, + -283.54436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -363.243860804156, + -285.04436263604754, + 3.3194193131352687 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -360.64578459280267, + -286.54436263604754, + 3.3194193131352687 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-38_2113690868/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-38_2113690868/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..4d97e913c8f0aaa09603485615e400669f433cdc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-38_2113690868/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -712.3168991052175, + -96.26920851981518, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -710.8168991052175, + -93.67113230846186, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -709.3168991052175, + -91.07305609710855, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.8168991052175, + -88.47497988575523, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -706.3168991052175, + -85.87690367440192, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -704.8168991052175, + -83.2788274630486, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -703.3168991052175, + -80.68075125169528, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -701.8168991052175, + -78.08267504034197, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.3168991052175, + -75.48459882898865, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -698.8168991052175, + -72.88652261763534, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -697.3168991052175, + -70.28844640628202, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -695.8168991052175, + -67.6903701949287, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -694.3168991052175, + -65.09229398357539, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -692.8168991052175, + -62.49421777222207, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -691.3168991052175, + -59.896141560868756, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -689.8168991052175, + -57.29806534951544, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -688.3168991052175, + -54.699989138162124, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -686.8168991052175, + -52.10191292680881, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.3168991052175, + -49.50383671545549, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -683.8168991052175, + -46.905760504102176, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -682.3168991052175, + -44.30768429274886, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -680.8168991052175, + -41.709608081395544, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -679.3168991052175, + -39.11153187004223, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -677.8168991052175, + -36.51345565868891, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -676.3168991052175, + -33.915379447335596, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -674.8168991052175, + -31.31730323598228, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -673.3168991052175, + -28.719227024628964, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -671.8168991052175, + -26.121150813275648, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.3168991052175, + -23.523074601922332, + -3.079313038560864 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.3168991052175, + -23.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.3168991052175, + -20.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.3168991052175, + -17.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.3168991052175, + -14.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -670.3168991052175, + -11.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -670.3168991052175, + -8.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -670.3168991052175, + -5.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -670.3168991052175, + -2.523074601922332, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -670.3168991052175, + 0.4769253980776682, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -670.3168991052175, + 3.476925398077668, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -670.3168991052175, + 6.476925398077668, + -3.079313038560864 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -670.3168991052175, + 6.476925398077668, + -3.079313038560864 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -668.8168991052175, + 9.075001609430984, + -3.079313038560864 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-57_1154349542/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-57_1154349542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fd8e31cb01992c45235bb068474c56375ac5f58e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-50-57_1154349542/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -973.7701298905257, + 465.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -973.7701298905257, + 462.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -973.7701298905257, + 459.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -973.7701298905257, + 456.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -973.7701298905257, + 453.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -973.7701298905257, + 450.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -973.7701298905257, + 447.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -973.7701298905257, + 444.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -973.7701298905257, + 441.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -973.7701298905257, + 438.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -973.7701298905257, + 435.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -973.7701298905257, + 432.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -973.7701298905257, + 429.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -973.7701298905257, + 426.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -973.7701298905257, + 423.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -973.7701298905257, + 420.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -973.7701298905257, + 417.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -973.7701298905257, + 414.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -973.7701298905257, + 411.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -973.7701298905257, + 408.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -973.7701298905257, + 405.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -973.7701298905257, + 402.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -973.7701298905257, + 399.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -973.7701298905257, + 396.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -973.7701298905257, + 393.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -973.7701298905257, + 390.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -973.7701298905257, + 387.723184809934, + 1.8136079042670001 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -973.7701298905257, + 387.723184809934, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -975.2701298905257, + 385.1251085985807, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -976.7701298905257, + 382.5270323872274, + 1.8136079042670001 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -978.2701298905257, + 379.9289561758741, + 1.8136079042670001 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-44_2120838155/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-44_2120838155/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..09d03f2f1ac58573cd4f2d764b6a0574d48b04f5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-51-44_2120838155/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -952.2086271125181, + 173.53511341864322, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -953.7086271125181, + 176.13318962999654, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -955.2086271125181, + 178.73126584134985, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -956.7086271125181, + 181.32934205270317, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -958.2086271125181, + 183.92741826405648, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -959.7086271125181, + 186.5254944754098, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -961.2086271125181, + 189.12357068676312, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -962.7086271125181, + 191.72164689811643, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -964.2086271125181, + 194.31972310946975, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -965.7086271125181, + 196.91779932082306, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -967.2086271125181, + 199.51587553217638, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -968.7086271125181, + 202.1139517435297, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -970.2086271125181, + 204.712027954883, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -971.7086271125181, + 207.31010416623633, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -973.2086271125181, + 209.90818037758964, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -974.7086271125181, + 212.50625658894296, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -976.2086271125181, + 215.10433280029628, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -977.7086271125181, + 217.7024090116496, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -979.2086271125181, + 220.3004852230029, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -980.7086271125181, + 222.89856143435622, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -982.2086271125181, + 225.49663764570954, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -983.7086271125181, + 228.09471385706286, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -985.2086271125181, + 230.69279006841617, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -986.7086271125181, + 233.2908662797695, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -988.2086271125181, + 235.8889424911228, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -989.7086271125181, + 238.48701870247612, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -991.2086271125181, + 241.08509491382944, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -992.7086271125181, + 243.68317112518275, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -994.2086271125181, + 246.28124733653607, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -995.7086271125181, + 248.87932354788938, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -997.2086271125181, + 251.4773997592427, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -998.7086271125181, + 254.07547597059602, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -1000.2086271125181, + 256.67355218194933, + 1.113040737102363 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -1000.2086271125181, + 256.67355218194933, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -1000.2086271125181, + 259.67355218194933, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -1000.2086271125181, + 262.67355218194933, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -1000.2086271125181, + 265.67355218194933, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -1000.2086271125181, + 268.67355218194933, + 1.113040737102363 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -1000.2086271125181, + 271.67355218194933, + 1.113040737102363 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-2_1241258962/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-2_1241258962/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..79f2b6608a437ad7425f6582724879a1621c9338 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-52-2_1241258962/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 401.1688919111564, + 104.08510364270015, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 402.6688919111564, + 101.48702743134683, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 404.1688919111564, + 98.88895121999352, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 405.6688919111564, + 96.2908750086402, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 407.1688919111564, + 93.69279879728688, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 408.6688919111564, + 91.09472258593357, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 410.1688919111564, + 88.49664637458025, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 411.6688919111564, + 85.89857016322694, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 413.1688919111564, + 83.30049395187362, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 414.6688919111564, + 80.7024177405203, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 416.1688919111564, + 78.10434152916699, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 417.6688919111564, + 75.50626531781367, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 419.1688919111564, + 72.90818910646036, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 420.6688919111564, + 70.31011289510704, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 422.1688919111564, + 67.71203668375372, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 423.6688919111564, + 65.11396047240041, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 425.1688919111564, + 62.51588426104709, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 426.6688919111564, + 59.917808049693775, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 428.1688919111564, + 57.31973183834046, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 429.6688919111564, + 54.72165562698714, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 431.1688919111564, + 52.12357941563383, + -2.0941858876909643 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 431.1688919111564, + 52.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 433.7669681225097, + 50.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 436.365044333863, + 49.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 438.9631205452163, + 47.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 441.56119675656964, + 46.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 444.15927296792296, + 44.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 446.7573491792763, + 43.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 449.3554253906296, + 41.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 451.9535016019829, + 40.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 454.5515778133362, + 38.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 457.14965402468954, + 37.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 459.74773023604286, + 35.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 462.34580644739617, + 34.12357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 464.9438826587495, + 32.62357941563383, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 467.5419588701028, + 31.123579415633827, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 470.1400350814561, + 29.623579415633827, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 472.73811129280944, + 28.123579415633827, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + 475.33618750416275, + 26.623579415633827, + -2.0941858876909643 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + 475.33618750416275, + 26.623579415633827, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + 476.83618750416275, + 24.02550320428051, + -2.0941858876909643 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + 478.33618750416275, + 21.427426992927195, + -2.0941858876909643 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-54-32_1227734017/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-54-32_1227734017/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..129111460de204ad5f3b9a81b1afef45e6c37ad4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-54-32_1227734017/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -620.9695335167332, + 204.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -623.5676097280866, + 206.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -626.16568593944, + 207.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -628.7637621507934, + 209.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -631.3618383621467, + 210.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -633.9599145735001, + 212.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -636.5579907848535, + 213.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.1560669962068, + 215.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.7541432075602, + 216.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -644.3522194189136, + 218.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -646.950295630267, + 219.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -649.5483718416203, + 221.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -652.1464480529737, + 222.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -654.7445242643271, + 224.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -657.3426004756805, + 225.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.9406766870338, + 227.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.5387528983872, + 228.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -665.1368291097406, + 230.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.734905321094, + 231.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.3329815324473, + 233.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -672.9310577438007, + 234.86598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -675.5291339551541, + 236.36598888623615, + 4.669842519613326 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -675.5291339551541, + 236.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -678.5291339551541, + 236.36598888623615, + 4.669842519613326 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -681.5291339551541, + 236.36598888623615, + 4.669842519613326 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-16_1213877140/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-16_1213877140/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32c7010e4dc429a0589c1aeb07d98fc540102d5a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-16_1213877140/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -181.13634017576305, + 317.14129686964196, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -178.13634017576305, + 317.14129686964196, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -175.13634017576305, + 317.14129686964196, + -2.603497094329685 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -175.13634017576305, + 317.14129686964196, + -2.603497094329685 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -175.13634017576305, + 317.14129686964196, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -173.63634017576305, + 319.7393730809953, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -172.13634017576305, + 322.3374492923486, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -170.63634017576305, + 324.9355255037019, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -169.13634017576305, + 327.5336017150552, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -167.63634017576305, + 330.13167792640854, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -166.13634017576305, + 332.72975413776186, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -164.63634017576305, + 335.3278303491152, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -163.13634017576305, + 337.9259065604685, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -161.63634017576305, + 340.5239827718218, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -160.13634017576305, + 343.1220589831751, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -158.63634017576305, + 345.72013519452844, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -157.13634017576305, + 348.31821140588175, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -155.63634017576305, + 350.91628761723507, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -154.13634017576305, + 353.5143638285884, + -2.603497094329685 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -154.13634017576305, + 353.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -151.53826396440974, + 355.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -148.94018775305642, + 356.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -146.3421115417031, + 358.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -143.7440353303498, + 359.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -141.14595911899647, + 361.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -138.54788290764316, + 362.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -135.94980669628984, + 364.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -133.35173048493652, + 365.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -130.7536542735832, + 367.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -128.1555780622299, + 368.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -125.55750185087658, + 370.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -122.95942563952326, + 371.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -120.36134942816994, + 373.0143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -117.76327321681663, + 374.5143638285884, + -2.603497094329685 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -115.16519700546331, + 376.0143638285884, + -2.603497094329685 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -114.1546768951416, + 378.73713836669924, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-34_1164585770/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-34_1164585770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..14cc1c0cf4a5aacfb9e169a033841df2bce2b14e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-55-34_1164585770/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -943.7628047216429, + 238.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -946.3608809329962, + 239.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -948.9589571443496, + 241.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -951.557033355703, + 242.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -954.1551095670563, + 244.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -956.7531857784097, + 245.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -959.3512619897631, + 247.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -961.9493382011165, + 248.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -964.5474144124698, + 250.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -967.1454906238232, + 251.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -969.7435668351766, + 253.04829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -972.34164304653, + 254.54829634559113, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -974.9397192578833, + 256.0482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991512 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -977.5377954692367, + 257.5482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -980.1358716805901, + 259.0482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -982.7339478919434, + 260.5482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -985.3320241032968, + 262.0482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -987.9301003146502, + 263.5482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -990.5281765260036, + 265.0482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -993.1262527373569, + 266.5482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -995.7243289487103, + 268.0482963455911, + 3.7788455555128504 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -995.7243289487103, + 268.0482963455911, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -997.2243289487103, + 270.6463725569444, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -998.7243289487103, + 273.24444876829773, + 3.7788455555128504 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -1000.2243289487103, + 275.84252497965105, + 3.7788455555128504 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1041.4117810058594, + 301.62743286132815, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-3_475777610/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-3_475777610/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c2daa8791c7ae15d9d5f4e33ea2d6b93e72729c4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-57-3_475777610/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -654.6937287059037, + 176.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -657.291804917257, + 174.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -659.8898811286103, + 173.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -662.4879573399637, + 171.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -665.0860335513171, + 170.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -667.6841097626705, + 168.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -670.2821859740238, + 167.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -672.8802621853772, + 165.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -675.4783383967306, + 164.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -678.076414608084, + 162.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -680.6744908194373, + 161.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -683.2725670307907, + 159.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -685.8706432421441, + 158.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -688.4687194534974, + 156.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -691.0667956648508, + 155.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -693.6648718762042, + 153.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -696.2629480875576, + 152.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -698.8610242989109, + 150.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -701.4591005102643, + 149.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -704.0571767216177, + 147.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -706.655252932971, + 146.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -709.2533291443244, + 144.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -711.8514053556778, + 143.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -714.4494815670312, + 141.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -717.0475577783845, + 140.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -719.6456339897379, + 138.92425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -722.2437102010913, + 137.42425695265152, + 0.8990225609686711 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -722.2437102010913, + 137.42425695265152, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -723.7437102010913, + 134.8261807412982, + 0.8990225609686711 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -725.2437102010913, + 132.2281045299449, + 0.8990225609686711 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -726.8706622314453, + 130.96456672668458, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-6-23_212528560/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-6-23_212528560/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d1e7f0a8269c3bfb96de3f962066908ac73bff56 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_5-6-23_212528560/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -276.0208894189948, + 531.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -278.6189656303481, + 532.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -281.2170418417014, + 534.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -283.81511805305473, + 535.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -286.41319426440805, + 537.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -289.01127047576136, + 538.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -291.6093466871147, + 540.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.207422898468, + 541.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.8054991098213, + 543.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -299.4035753211746, + 544.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -302.00165153252794, + 546.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -304.59972774388126, + 547.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -307.1978039552346, + 549.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -309.7958801665879, + 550.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -312.3939563779412, + 552.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -314.9920325892945, + 553.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -317.59010880064784, + 555.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -320.18818501200116, + 556.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -322.7862612233545, + 558.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -325.3843374347078, + 559.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -327.9824136460611, + 561.4598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -330.5804898574144, + 562.9598054693157, + -3.697798916606306 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -330.5804898574144, + 562.9598054693157, + -3.697798916606306 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -330.5804898574144, + 562.9598054693157, + -3.697798916606306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.6651914291880923 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.17856606876774, + 561.4598054693157, + -3.697798916606306 + ], + "type": "stop", + "value": 0, + "yaw": 3.6651914291880923 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-12-13_2122533302/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-12-13_2122533302/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b95d9db46f518747b849f5302453dc3220a1feee --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-12-13_2122533302/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -211.99021277397043, + -93.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -214.58828898532374, + -95.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -217.18636519667706, + -96.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -219.78444140803037, + -98.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -222.3825176193837, + -99.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -224.980593830737, + -101.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -227.57867004209032, + -102.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -230.17674625344364, + -104.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -232.77482246479696, + -105.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -235.37289867615027, + -107.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -237.9709748875036, + -108.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -240.5690510988569, + -110.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -243.16712731021022, + -111.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -245.76520352156354, + -113.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -248.36327973291685, + -114.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -250.96135594427017, + -116.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -253.55943215562348, + -117.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -256.1575083669768, + -119.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -258.7555845783301, + -120.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -261.35366078968343, + -122.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -263.95173700103675, + -123.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -266.54981321239006, + -125.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -269.1478894237434, + -126.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -271.7459656350967, + -128.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -274.34404184645, + -129.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -276.9421180578033, + -131.14475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -279.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -279.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -282.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -285.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -288.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -291.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -294.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -297.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -300.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -303.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -306.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -309.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -312.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -315.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -318.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -321.54019426915664, + -132.64475883926818, + -1.2283034490028029 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-13-48_115133608/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-13-48_115133608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b342b39c87a71a899ef46488a41688b8c374518 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-13-48_115133608/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -327.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -324.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -321.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -318.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -315.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -312.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -309.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -306.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -303.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -300.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -297.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -294.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -291.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -288.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -285.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -282.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -279.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -276.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -273.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -270.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -267.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -264.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -261.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -258.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -255.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -252.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -252.027670854765, + -16.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -249.4295946434117, + -14.87163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -246.83151843205837, + -13.37163073964635, + -3.2089655490154145 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -244.23344222070506, + -11.87163073964635, + -3.2089655490154145 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-14-3_1423977622/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-14-3_1423977622/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ae2d4fa3aaec1b32c8c0c960fad4791ffda27169 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-14-3_1423977622/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -104.87574515307745, + -519.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -107.47382136443076, + -517.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -110.07189757578408, + -516.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -112.6699737871374, + -514.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -115.26804999849071, + -513.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -117.86612620984403, + -511.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -120.46420242119734, + -510.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -123.06227863255066, + -508.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -125.66035484390397, + -507.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -128.2584310552573, + -505.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -130.8565072666106, + -504.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -133.45458347796392, + -502.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -136.05265968931724, + -501.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -138.65073590067055, + -499.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -141.24881211202387, + -498.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -143.8468883233772, + -496.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -146.4449645347305, + -495.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -149.04304074608382, + -493.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -151.64111695743713, + -492.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -154.23919316879045, + -490.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -156.83726938014377, + -489.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -159.43534559149708, + -487.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -162.0334218028504, + -486.4794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -164.63149801420371, + -484.9794351332936, + -3.7389443097926214 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -164.63149801420371, + -484.9794351332936, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -166.13149801420371, + -482.38135892194026, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -167.63149801420371, + -479.78328271058695, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -169.13149801420371, + -477.18520649923363, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -170.63149801420371, + -474.5871302878803, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -172.13149801420371, + -471.989054076527, + -3.7389443097926214 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -173.63149801420371, + -469.3909778651737, + -3.7389443097926214 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -175.02334197998047, + -467.78616867065426, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-15-9_1265989390/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-15-9_1265989390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bc24d1c40260f9abb0443e3b7aa6000afa19f1ab --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-15-9_1265989390/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -957.749744700939, + 192.8172799089893, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -959.249744700939, + 195.4153561203426, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -960.749744700939, + 198.01343233169592, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -962.249744700939, + 200.61150854304924, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -963.749744700939, + 203.20958475440256, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -965.249744700939, + 205.80766096575587, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -966.749744700939, + 208.4057371771092, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -968.249744700939, + 211.0038133884625, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -969.749744700939, + 213.60188959981582, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -971.249744700939, + 216.19996581116914, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -972.749744700939, + 218.79804202252245, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -974.249744700939, + 221.39611823387577, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -975.749744700939, + 223.99419444522908, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -977.249744700939, + 226.5922706565824, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -978.749744700939, + 229.19034686793572, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -980.249744700939, + 231.78842307928903, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -981.749744700939, + 234.38649929064235, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -983.249744700939, + 236.98457550199566, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -984.749744700939, + 239.58265171334898, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -986.249744700939, + 242.1807279247023, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -987.749744700939, + 244.7788041360556, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -989.249744700939, + 247.37688034740893, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -990.749744700939, + 249.97495655876224, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -992.249744700939, + 252.57303277011556, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -993.749744700939, + 255.17110898146888, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -995.249744700939, + 257.7691851928222, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -996.749744700939, + 260.3672614041755, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -998.249744700939, + 262.9653376155288, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -999.749744700939, + 265.56341382688214, + -3.6924469854190205 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -999.749744700939, + 265.56341382688214, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -999.749744700939, + 268.56341382688214, + -3.6924469854190205 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -999.749744700939, + 271.56341382688214, + -3.6924469854190205 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1002.9734149169922, + 277.3824105834961, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-18-23_1613393829/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-18-23_1613393829/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f75f4a3c3ceb8fa890c4d0a4df3cd2190b174fb8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-18-23_1613393829/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -338.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -335.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -332.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -329.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -326.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -323.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -320.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -317.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -314.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -311.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -308.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -305.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -302.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -299.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -296.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -293.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -290.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -290.5480311005078, + 700.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -287.94995488915447, + 698.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -285.35187867780115, + 697.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -282.75380246644784, + 695.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -280.1557262550945, + 694.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -277.5576500437412, + 692.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -274.9595738323879, + 691.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -272.3614976210346, + 689.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -269.76342140968126, + 688.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -267.16534519832794, + 686.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -264.5672689869746, + 685.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -261.9691927756213, + 683.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -259.371116564268, + 682.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -256.7730403529147, + 680.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -254.17496414156136, + 679.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -251.57688793020804, + 677.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -248.97881171885473, + 676.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -246.3807355075014, + 674.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -243.7826592961481, + 673.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -241.18458308479478, + 671.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -238.58650687344146, + 670.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -235.98843066208815, + 668.996916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -233.39035445073483, + 667.496916943923, + -1.0346396902381798 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -230.79227823938152, + 665.996916943923, + -1.0346396902381798 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-26-31_1244849762/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-26-31_1244849762/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..06d47f455ba0bf97ac198dac527447ade0b89e64 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-26-31_1244849762/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -612.8820789723698, + 144.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -612.8820789723698, + 141.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -612.8820789723698, + 138.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -612.8820789723698, + 135.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -612.8820789723698, + 132.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -612.8820789723698, + 129.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -612.8820789723698, + 126.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -612.8820789723698, + 123.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -612.8820789723698, + 120.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -612.8820789723698, + 117.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -612.8820789723698, + 114.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -612.8820789723698, + 111.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -612.8820789723698, + 108.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -612.8820789723698, + 105.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -612.8820789723698, + 102.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -612.8820789723698, + 99.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -612.8820789723698, + 96.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -612.8820789723698, + 93.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -612.8820789723698, + 90.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -612.8820789723698, + 87.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -612.8820789723698, + 84.61215127176797, + -1.0258439723548038 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -612.8820789723698, + 84.61215127176797, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -614.3820789723698, + 82.01407506041465, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -615.8820789723698, + 79.41599884906134, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -617.3820789723698, + 76.81792263770802, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -618.8820789723698, + 74.2198464263547, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -620.3820789723698, + 71.62177021500139, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -621.8820789723698, + 69.02369400364807, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -623.3820789723698, + 66.42561779229476, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -624.8820789723698, + 63.82754158094144, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -626.3820789723698, + 61.22946536958813, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -627.8820789723698, + 58.63138915823481, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -629.3820789723698, + 56.033312946881495, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -630.8820789723698, + 53.43523673552818, + -1.0258439723548038 + ], + "type": "turn left", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -630.8820789723698, + 53.43523673552818, + -1.0258439723548038 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -630.8820789723698, + 50.43523673552818, + -1.0258439723548038 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-27-5_1357242587/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-27-5_1357242587/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9993476a27b93ecad5905bc76d01b83c1e5557c6 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-27-5_1357242587/pose.jsonl @@ -0,0 +1,547 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -194.3688577903346, + -525.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -194.3688577903346, + -522.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -194.3688577903346, + -519.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -194.3688577903346, + -516.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -194.3688577903346, + -513.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -194.3688577903346, + -510.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -194.3688577903346, + -507.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -194.3688577903346, + -504.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -194.3688577903346, + -501.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -194.3688577903346, + -498.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -194.3688577903346, + -495.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -194.3688577903346, + -492.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -194.3688577903346, + -489.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -194.3688577903346, + -486.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -194.3688577903346, + -483.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -194.3688577903346, + -480.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -194.3688577903346, + -477.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -194.3688577903346, + -474.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -194.3688577903346, + -471.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -194.3688577903346, + -468.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -194.3688577903346, + -465.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -194.3688577903346, + -462.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -194.3688577903346, + -459.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -194.3688577903346, + -456.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -194.3688577903346, + -453.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -194.3688577903346, + -450.6628391078194, + 0.45380060996316907 + ], + "type": "turn left", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -194.3688577903346, + -450.6628391078194, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -195.8688577903346, + -448.0647628964661, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -197.3688577903346, + -445.4666866851128, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -198.8688577903346, + -442.8686104737595, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -200.3688577903346, + -440.27053426240616, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -201.8688577903346, + -437.67245805105284, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -203.3688577903346, + -435.0743818396995, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -204.8688577903346, + -432.4763056283462, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -206.3688577903346, + -429.8782294169929, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -207.8688577903346, + -427.2801532056396, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -209.3688577903346, + -424.68207699428626, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -210.8688577903346, + -422.08400078293295, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -212.3688577903346, + -419.48592457157963, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -213.8688577903346, + -416.8878483602263, + 0.45380060996316907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -215.3688577903346, + -414.289772148873, + 0.45380060996316907 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -215.0078338623047, + -412.48035171508786, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-30-54_8285608/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-30-54_8285608/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d462d11e692a849948222093e6b2ba9ae59df71b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-30-54_8285608/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -254.44869482138648, + -130.43791427547484, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -251.85061861003317, + -128.93791427547484, + 3.8727778992455555 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -251.85061861003317, + -128.93791427547484, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -250.35061861003317, + -126.33983806412152, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -248.85061861003317, + -123.7417618527682, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -247.35061861003317, + -121.14368564141489, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -245.85061861003317, + -118.54560943006157, + 3.8727778992455555 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -245.85061861003317, + -118.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -243.25254239867985, + -117.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -240.65446618732653, + -115.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -238.05638997597322, + -114.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -235.4583137646199, + -112.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -232.8602375532666, + -111.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -230.26216134191327, + -109.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -227.66408513055995, + -108.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -225.06600891920664, + -106.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -222.46793270785332, + -105.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -219.8698564965, + -103.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -217.2717802851467, + -102.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -214.67370407379337, + -100.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -212.07562786244006, + -99.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -209.47755165108674, + -97.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -206.87947543973343, + -96.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -204.2813992283801, + -94.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -201.6833230170268, + -93.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -199.08524680567348, + -91.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -196.48717059432016, + -90.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -193.88909438296685, + -88.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -191.29101817161353, + -87.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -188.6929419602602, + -85.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -186.0948657489069, + -84.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -183.49678953755358, + -82.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -180.89871332620027, + -81.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -178.30063711484695, + -79.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -175.70256090349363, + -78.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -173.10448469214032, + -76.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -170.506408480787, + -75.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -167.90833226943369, + -73.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -165.31025605808037, + -72.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -162.71217984672705, + -70.54560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -160.11410363537374, + -69.04560943006157, + 3.8727778992455555 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -157.51602742402042, + -67.54560943006157, + 3.8727778992455555 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-15_1350422715/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-15_1350422715/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c88c85d46373c5ff0218fb1457f1c16f8b7ccea --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-15_1350422715/pose.jsonl @@ -0,0 +1,300 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -960.4782446135837, + 288.5110751767678, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -961.9782446135837, + 291.1091513881211, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -963.4782446135837, + 293.70722759947444, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -964.9782446135837, + 296.30530381082775, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -966.4782446135837, + 298.90338002218107, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -967.9782446135837, + 301.5014562335344, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -969.4782446135837, + 304.0995324448877, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -970.9782446135837, + 306.697608656241, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -972.4782446135837, + 309.29568486759433, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -973.9782446135837, + 311.89376107894765, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -975.4782446135837, + 314.49183729030096, + -3.192719474268638 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -975.4782446135837, + 314.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -975.4782446135837, + 317.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -975.4782446135837, + 320.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -975.4782446135837, + 323.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -975.4782446135837, + 326.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -975.4782446135837, + 329.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -975.4782446135837, + 332.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -975.4782446135837, + 335.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -975.4782446135837, + 338.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -975.4782446135837, + 341.49183729030096, + -3.192719474268638 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -975.4782446135837, + 344.49183729030096, + -3.192719474268638 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -979.8297436523437, + 358.6925830078125, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-28_1256772878/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-28_1256772878/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6f4fa8121ba711b63ae49645f6a840d92cbe0dd2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-32-28_1256772878/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -670.5840200740255, + 567.4663436687665, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -669.0840200740255, + 564.8682674574131, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -667.5840200740255, + 562.2701912460598, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -666.0840200740255, + 559.6721150347064, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -664.5840200740255, + 557.074038823353, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -663.0840200740255, + 554.4759626119996, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -661.5840200740255, + 551.8778864006463, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -660.0840200740255, + 549.2798101892929, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -658.5840200740255, + 546.6817339779395, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -657.0840200740255, + 544.0836577665862, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -655.5840200740255, + 541.4855815552328, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -654.0840200740255, + 538.8875053438794, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -652.5840200740255, + 536.289429132526, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -651.0840200740255, + 533.6913529211727, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -649.5840200740255, + 531.0932767098193, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -648.0840200740255, + 528.4952004984659, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -646.5840200740255, + 525.8971242871125, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -645.0840200740255, + 523.2990480757592, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -643.5840200740255, + 520.7009718644058, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -642.0840200740255, + 518.1028956530524, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -640.5840200740255, + 515.504819441699, + 4.019706654992127 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -640.5840200740255, + 515.504819441699, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267949059 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -640.5840200740255, + 512.504819441699, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -640.5840200740255, + 509.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -640.5840200740255, + 506.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -640.5840200740255, + 503.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -640.5840200740255, + 500.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -640.5840200740255, + 497.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -640.5840200740255, + 494.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -640.5840200740255, + 491.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.5840200740255, + 488.50481944169906, + 4.019706654992127 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -640.5840200740255, + 485.50481944169906, + 4.019706654992127 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-33-17_1780238390/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-33-17_1780238390/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f2dc59541fdfb2540a101269d4bd6269bad3315a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-33-17_1780238390/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -933.9938822169194, + 273.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -936.5919584282726, + 274.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -939.190034639626, + 276.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -941.7881108509794, + 277.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -944.3861870623327, + 279.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -946.9842632736861, + 280.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -949.5823394850395, + 282.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -952.1804156963929, + 283.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -954.7784919077462, + 285.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -957.3765681190996, + 286.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -959.974644330453, + 288.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -962.5727205418063, + 289.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -965.1707967531597, + 291.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -967.7688729645131, + 292.6504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -970.3669491758665, + 294.1504557281248, + -3.8989974573003945 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -970.3669491758665, + 294.1504557281248, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -971.8669491758665, + 296.74853193947814, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -973.3669491758665, + 299.34660815083146, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -974.8669491758665, + 301.9446843621848, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -976.3669491758665, + 304.5427605735381, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.8669491758665, + 307.1408367848914, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -979.3669491758665, + 309.7389129962447, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -980.8669491758665, + 312.33698920759804, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -982.3669491758665, + 314.93506541895135, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -983.8669491758665, + 317.53314163030467, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -985.3669491758665, + 320.131217841658, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -986.8669491758665, + 322.7292940530113, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -988.3669491758665, + 325.3273702643646, + -3.8989974573003945 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -989.8669491758665, + 327.92544647571793, + -3.8989974573003945 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-34-22_1456575805/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-34-22_1456575805/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..841025ec64909cfff99d79ea5e7b680c3835ee43 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-34-22_1456575805/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -698.5046278770643, + -94.03252333401194, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -697.0046278770643, + -91.43444712265863, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -695.5046278770643, + -88.83637091130531, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -694.0046278770643, + -86.238294699952, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -692.5046278770643, + -83.64021848859868, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -691.0046278770643, + -81.04214227724536, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -689.5046278770643, + -78.44406606589205, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -688.0046278770643, + -75.84598985453873, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -686.5046278770643, + -73.24791364318541, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -685.0046278770643, + -70.6498374318321, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -683.5046278770643, + -68.05176122047878, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -682.0046278770643, + -65.45368500912546, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -680.5046278770643, + -62.85560879777215, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -679.0046278770643, + -60.25753258641883, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -677.5046278770643, + -57.65945637506552, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -676.0046278770643, + -55.0613801637122, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -674.5046278770643, + -52.463303952358885, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.0046278770643, + -49.86522774100557, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -671.5046278770643, + -47.26715152965225, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.0046278770643, + -44.66907531829894, + -3.4628981554915717 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -670.0046278770643, + -44.66907531829894, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.0046278770643, + -41.66907531829894, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -670.0046278770643, + -38.66907531829894, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -670.0046278770643, + -35.66907531829894, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -670.0046278770643, + -32.66907531829894, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -670.0046278770643, + -29.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -670.0046278770643, + -26.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -670.0046278770643, + -23.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -670.0046278770643, + -20.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -670.0046278770643, + -17.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -670.0046278770643, + -14.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -670.0046278770643, + -11.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -670.0046278770643, + -8.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -670.0046278770643, + -5.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -670.0046278770643, + -2.669075318298937, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -670.0046278770643, + 0.33092468170106315, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -670.0046278770643, + 3.330924681701063, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -670.0046278770643, + 6.330924681701063, + -3.4628981554915717 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -670.0046278770643, + 6.330924681701063, + -3.4628981554915717 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -668.5046278770643, + 8.92900089305438, + -3.4628981554915717 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -667.3111592102051, + 12.556017684936524, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-17_623678685/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-17_623678685/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85e512bc2751589aecf5ad0c175656b1b1a9012e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-35-17_623678685/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -559.115902715203, + 299.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -559.115902715203, + 296.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -559.115902715203, + 293.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -559.115902715203, + 290.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -559.115902715203, + 287.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -559.115902715203, + 284.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -559.115902715203, + 281.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -559.115902715203, + 278.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -559.115902715203, + 275.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -559.115902715203, + 272.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -559.115902715203, + 269.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -559.115902715203, + 266.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -559.115902715203, + 263.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -559.115902715203, + 260.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -559.115902715203, + 257.8779575822758, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -559.115902715203, + 254.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -559.115902715203, + 251.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -559.115902715203, + 248.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -559.115902715203, + 245.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -559.115902715203, + 242.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -559.115902715203, + 239.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -559.115902715203, + 236.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -559.115902715203, + 233.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -559.115902715203, + 230.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -559.115902715203, + 227.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -559.115902715203, + 224.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -559.115902715203, + 221.87795758227583, + -3.4035476924998176 + ], + "type": "turn left", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -559.115902715203, + 221.87795758227583, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -557.615902715203, + 219.2798813709225, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -556.115902715203, + 216.6818051595692, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -554.615902715203, + 214.08372894821588, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -553.115902715203, + 211.48565273686256, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -551.615902715203, + 208.88757652550925, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -550.115902715203, + 206.28950031415593, + -3.4035476924998176 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -548.615902715203, + 203.6914241028026, + -3.4035476924998176 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-34_1178341976/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-34_1178341976/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ea1d90811f7fd4d68b1a4b4580346959179a16eb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-40-34_1178341976/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -745.4943597882477, + 138.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -745.4943597882477, + 135.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -745.4943597882477, + 132.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -745.4943597882477, + 129.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -745.4943597882477, + 126.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -745.4943597882477, + 123.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -745.4943597882477, + 120.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.4943597882477, + 117.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -745.4943597882477, + 114.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -745.4943597882477, + 111.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -745.4943597882477, + 108.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -745.4943597882477, + 105.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -745.4943597882477, + 102.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.4943597882477, + 99.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -745.4943597882477, + 96.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -745.4943597882477, + 93.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -745.4943597882477, + 90.88681857822073, + -0.5877704950831406 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -745.4943597882477, + 90.88681857822073, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -746.9943597882477, + 88.28874236686741, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -748.4943597882477, + 85.6906661555141, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -749.9943597882477, + 83.09258994416078, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -751.4943597882477, + 80.49451373280746, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -752.9943597882477, + 77.89643752145415, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -754.4943597882477, + 75.29836131010083, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -755.9943597882477, + 72.70028509874751, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -757.4943597882477, + 70.1022088873942, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -758.9943597882477, + 67.50413267604088, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -760.4943597882477, + 64.90605646468757, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -761.9943597882477, + 62.30798025333425, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -763.4943597882477, + 59.709904041980934, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -764.9943597882477, + 57.11182783062762, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -766.4943597882477, + 54.5137516192743, + -0.5877704950831406 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -767.9943597882477, + 51.915675407920986, + -0.5877704950831406 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-4_1622197219/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-4_1622197219/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5a6dbef916ddacae46bd35dc6bbb7006ec3014cc --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-41-4_1622197219/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -447.571589263079, + -136.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -444.97351305172566, + -137.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -442.37543684037234, + -139.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -439.77736062901903, + -140.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -437.1792844176657, + -142.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -434.5812082063124, + -143.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -431.9831319949591, + -145.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -429.38505578360576, + -146.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -426.78697957225245, + -148.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -424.18890336089913, + -149.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -421.5908271495458, + -151.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -418.9927509381925, + -152.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -416.3946747268392, + -154.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -413.79659851548587, + -155.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -411.19852230413255, + -157.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -408.60044609277924, + -158.6474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -406.0023698814259, + -160.1474924921912, + -1.9623951937288577 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -406.0023698814259, + -160.1474924921912, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -404.5023698814259, + -162.7455687035445, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -403.0023698814259, + -165.34364491489782, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -401.5023698814259, + -167.94172112625114, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -400.0023698814259, + -170.53979733760445, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -398.5023698814259, + -173.13787354895777, + -1.9623951937288577 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -397.0023698814259, + -175.7359497603111, + -1.9623951937288577 + ], + "type": "stop", + "value": 0, + "yaw": -1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -395.0994828796387, + -178.58960372924804, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-6_1286598370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-6_1286598370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e5f7b98e5609b4f73db1bf7449eb5524f75f01c8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-48-6_1286598370/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -731.1003808426788, + 153.5257958322476, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -729.6003808426788, + 156.12387204360093, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -728.1003808426788, + 158.72194825495424, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -726.6003808426788, + 161.32002446630756, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -725.1003808426788, + 163.91810067766087, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -723.6003808426788, + 166.5161768890142, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -722.1003808426788, + 169.1142531003675, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -720.6003808426788, + 171.71232931172082, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -719.1003808426788, + 174.31040552307414, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -717.6003808426788, + 176.90848173442745, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -716.1003808426788, + 179.50655794578077, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -714.6003808426788, + 182.1046341571341, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -713.1003808426788, + 184.7027103684874, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -711.6003808426788, + 187.30078657984072, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -710.1003808426788, + 189.89886279119403, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -708.6003808426788, + 192.49693900254735, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -707.1003808426788, + 195.09501521390067, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -705.6003808426788, + 197.69309142525398, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -704.1003808426788, + 200.2911676366073, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -702.6003808426788, + 202.8892438479606, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -701.1003808426788, + 205.48732005931393, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -699.6003808426788, + 208.08539627066725, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -698.1003808426788, + 210.68347248202056, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -696.6003808426788, + 213.28154869337388, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -695.1003808426788, + 215.8796249047272, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -693.6003808426788, + 218.4777011160805, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -692.1003808426788, + 221.07577732743383, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -690.6003808426788, + 223.67385353878714, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -689.1003808426788, + 226.27192975014046, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -687.6003808426788, + 228.87000596149377, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -686.1003808426788, + 231.4680821728471, + -0.810180761409006 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -684.6003808426788, + 234.0661583842004, + -0.810180761409006 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-52-37_527532074/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-52-37_527532074/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ec62d94b524d7c7817e016d478c2eb9ea291ebd8 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_6-52-37_527532074/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -272.10556022727786, + 52.716722801931624, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -270.60556022727786, + 50.11864659057831, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -269.10556022727786, + 47.52057037922499, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -267.60556022727786, + 44.922494167871676, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -266.10556022727786, + 42.32441795651836, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -264.60556022727786, + 39.726341745165044, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -263.10556022727786, + 37.12826553381173, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -261.60556022727786, + 34.53018932245841, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -260.10556022727786, + 31.932113111105096, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -258.60556022727786, + 29.33403689975178, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -257.10556022727786, + 26.735960688398464, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -255.60556022727786, + 24.137884477045148, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -254.10556022727786, + 21.539808265691832, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -252.60556022727786, + 18.941732054338516, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -251.10556022727786, + 16.3436558429852, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -249.60556022727786, + 13.745579631631884, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -248.10556022727786, + 11.147503420278568, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -246.60556022727786, + 8.549427208925252, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -245.10556022727786, + 5.951350997571936, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -243.60556022727786, + 3.35327478621862, + -0.8911209139937135 + ], + "type": "turn right", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -243.60556022727786, + 3.35327478621862, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -243.60556022727786, + 0.35327478621861985, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -243.60556022727786, + -2.64672521378138, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -243.60556022727786, + -5.64672521378138, + -0.8911209139937135 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -243.60556022727786, + -8.64672521378138, + -0.8911209139937135 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-15_869813362/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-15_869813362/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b37ce68f3c287de9642d75a38c690077cddb0925 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-15_869813362/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -676.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -679.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -682.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -685.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -688.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -691.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -694.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -697.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -703.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -706.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -709.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -712.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -715.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -718.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -721.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -724.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -727.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -730.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -733.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -736.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -739.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -742.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -745.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -748.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -751.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -754.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -757.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -760.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -763.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -766.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -766.0076279357669, + 187.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -768.6057041471202, + 186.1888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991485 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -771.2037803584735, + 184.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -773.8018565698269, + 183.1888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -776.3999327811803, + 181.6888942567674, + 1.9269065119667577 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -778.9980089925336, + 180.1888942567674, + 1.9269065119667577 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-49_401542104/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-49_401542104/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d44497f1410aed531f30bce8fb04c909fd04b0b2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-18-49_401542104/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -302.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -305.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -308.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -311.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -314.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -317.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -320.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -323.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -326.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -329.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -332.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -335.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -338.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -341.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -344.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -347.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -350.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -353.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -356.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -359.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -362.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -365.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -368.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -371.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -374.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -377.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -380.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -383.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -386.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -389.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -392.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -392.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -392.76728125355777, + 473.5885672051264, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -394.26728125355777, + 476.18664341647974, + 3.344202817845126 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -395.76728125355777, + 478.78471962783306, + 3.344202817845126 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -399.08082916259764, + 479.4950012207031, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-42_1207774949/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-42_1207774949/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..888986c8a0f6ac3ffa89243279bb3998c80a9b81 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-42_1207774949/pose.jsonl @@ -0,0 +1,196 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -787.514291326208, + 346.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -787.514291326208, + 343.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -787.514291326208, + 340.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -787.514291326208, + 337.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -787.514291326208, + 334.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -787.514291326208, + 331.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -787.514291326208, + 328.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -787.514291326208, + 325.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -787.514291326208, + 322.27563670286474, + -0.23074730393579834 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -787.514291326208, + 322.27563670286474, + -0.23074730393579834 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -787.514291326208, + 322.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -790.1123675375613, + 320.77563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -792.7104437489147, + 319.27563670286474, + -0.23074730393579834 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -795.3085199602681, + 317.77563670286474, + -0.23074730393579834 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -802.5129748535156, + 284.37975662231446, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-52_1437951605/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-52_1437951605/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..63155c00d665eb7d6ef73b645e0bbca9aa5894a7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-20-52_1437951605/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -898.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -901.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -904.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -907.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -910.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -913.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -916.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -919.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -922.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -925.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -928.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -931.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -934.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -937.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -940.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -943.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -946.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -949.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -952.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -955.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -958.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -961.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -964.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -967.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -970.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -973.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -976.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -979.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -982.8873331818525, + 338.33201539435015, + -1.4514895003068027 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-23-57_304133130/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-23-57_304133130/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a480f07cf901c413e9224b6eed3d166c5bfcf4f4 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-23-57_304133130/pose.jsonl @@ -0,0 +1,521 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -762.287326033088, + 314.5267733976288, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -760.787326033088, + 311.9286971862755, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -759.287326033088, + 309.33062097492217, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -757.787326033088, + 306.73254476356885, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -756.287326033088, + 304.13446855221554, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -754.787326033088, + 301.5363923408622, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -753.287326033088, + 298.9383161295089, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -751.787326033088, + 296.3402399181556, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -750.287326033088, + 293.7421637068023, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -748.787326033088, + 291.14408749544896, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -747.287326033088, + 288.54601128409564, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -745.787326033088, + 285.9479350727423, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -744.287326033088, + 283.349858861389, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -742.787326033088, + 280.7517826500357, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -741.287326033088, + 278.1537064386824, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -739.787326033088, + 275.55563022732906, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -738.287326033088, + 272.95755401597575, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -736.787326033088, + 270.35947780462243, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -735.287326033088, + 267.7614015932691, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -733.787326033088, + 265.1633253819158, + 4.098668782455951 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -733.787326033088, + 265.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -731.1892498217346, + 263.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -728.5911736103812, + 262.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -725.9930973990279, + 260.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -723.3950211876745, + 259.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -720.7969449763211, + 257.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -718.1988687649678, + 256.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -715.6007925536144, + 254.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -713.002716342261, + 253.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -710.4046401309076, + 251.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -707.8065639195543, + 250.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -705.2084877082009, + 248.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -702.6104114968475, + 247.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -700.0123352854941, + 245.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -697.4142590741408, + 244.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -694.8161828627874, + 242.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -692.218106651434, + 241.1633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -689.6200304400807, + 239.6633253819158, + 4.098668782455951 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -687.0219542287273, + 238.1633253819158, + 4.098668782455951 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -684.7201055908203, + 237.53857521057128, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-24-15_806176022/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-24-15_806176022/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67fa1521f5017c1d6af2db84fe7b1bc72f3bea32 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-24-15_806176022/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -881.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -884.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -887.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -890.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -893.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -896.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -899.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -902.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -905.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -908.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -911.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -914.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -917.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -920.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -923.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -926.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -929.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -932.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -935.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -938.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -941.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -944.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -947.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -950.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -953.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -956.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -959.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -962.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -962.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -962.8217347829207, + 223.77803895253703, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -964.3217347829207, + 226.37611516389035, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -965.8217347829207, + 228.97419137524366, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -967.3217347829207, + 231.57226758659698, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -968.8217347829207, + 234.1703437979503, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -970.3217347829207, + 236.7684200093036, + 3.7562435216900543 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -970.3217347829207, + 236.7684200093036, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -972.919810994274, + 238.2684200093036, + 3.7562435216900543 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -975.5178872056274, + 239.7684200093036, + 3.7562435216900543 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779915037 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -978.6087219238281, + 239.76509559631347, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-24_1838177151/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-24_1838177151/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..96b37ed76928cb650f356c617eeda389e6c95250 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-25-24_1838177151/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -831.6631026213977, + 464.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -834.261178832751, + 462.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -836.8592550441044, + 461.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -839.4573312554578, + 459.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -842.0554074668112, + 458.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -844.6534836781645, + 456.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -847.2515598895179, + 455.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -849.8496361008713, + 453.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -852.4477123122247, + 452.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -855.045788523578, + 450.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -857.6438647349314, + 449.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -860.2419409462848, + 447.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -862.8400171576382, + 446.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -865.4380933689915, + 444.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -868.0361695803449, + 443.0094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -870.6342457916983, + 441.5094079062886, + 1.6980750034672774 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -870.6342457916983, + 441.5094079062886, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -872.1342457916983, + 438.91133169493526, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -873.6342457916983, + 436.31325548358194, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -875.1342457916983, + 433.7151792722286, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -876.6342457916983, + 431.1171030608753, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -878.1342457916983, + 428.519026849522, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -879.6342457916983, + 425.9209506381687, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -881.1342457916983, + 423.32287442681536, + 1.6980750034672774 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -882.6342457916983, + 420.72479821546204, + 1.6980750034672774 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-50_210576770/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-50_210576770/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dde5746b332ae6b996f205150b62235057e91c5f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-29-50_210576770/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 434.7894911117136, + -19.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 437.3875673230669, + -18.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 439.9856435344202, + -16.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 442.5837197457735, + -15.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 445.18179595712684, + -13.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 447.77987216848015, + -12.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 450.37794837983347, + -10.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 452.9760245911868, + -9.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 455.5741008025401, + -7.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 458.1721770138934, + -6.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 460.77025322524673, + -4.720084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 463.36832943660005, + -3.220084736995876, + -3.3342384325767385 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 463.36832943660005, + -3.220084736995876, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 464.86832943660005, + -0.6220085256425598, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 466.36832943660005, + 1.9760676857107562, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 467.86832943660005, + 4.574143897064072, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 469.36832943660005, + 7.172220108417388, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 470.86832943660005, + 9.770296319770704, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 472.36832943660005, + 12.36837253112402, + -3.3342384325767385 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 472.36832943660005, + 12.36837253112402, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 474.96640564795337, + 13.86837253112402, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 477.5644818593067, + 15.36837253112402, + -3.3342384325767385 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 480.16255807066, + 16.86837253112402, + -3.3342384325767385 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 481.2035136413574, + 19.23793586730957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-33-49_1117661055/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-33-49_1117661055/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cb69f9849f6cf872a2e3cd9cb271adbb1d0e4941 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-33-49_1117661055/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -535.2249077548056, + 532.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -537.822983966159, + 530.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -540.4210601775123, + 529.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -543.0191363888657, + 527.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -545.6172126002191, + 526.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -548.2152888115725, + 524.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -550.8133650229258, + 523.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -553.4114412342792, + 521.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -556.0095174456326, + 520.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -558.607593656986, + 518.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -561.2056698683393, + 517.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -563.8037460796927, + 515.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -566.4018222910461, + 514.0686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -568.9998985023994, + 512.5686588351136, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -571.5979747137528, + 511.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -574.1960509251062, + 509.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -576.7941271364596, + 508.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -579.3922033478129, + 506.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -581.9902795591663, + 505.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -584.5883557705197, + 503.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -587.186431981873, + 502.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -589.7845081932264, + 500.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -592.3825844045798, + 499.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -594.9806606159332, + 497.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -597.5787368272865, + 496.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -600.1768130386399, + 494.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -602.7748892499933, + 493.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -605.3729654613467, + 491.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -607.9710416727, + 490.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -610.5691178840534, + 488.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -613.1671940954068, + 487.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -615.7652703067602, + 485.56865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -618.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -618.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": -3.1415926535898024 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -621.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -624.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -627.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -630.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -633.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -636.3633465181135, + 484.06865883511364, + -0.005839833528512806 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-58_1540836825/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-58_1540836825/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fcb926f3063c6cc7b1b2ed0e105ca3e79bf57b08 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-36-58_1540836825/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -945.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -942.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -939.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -936.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -933.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -930.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -927.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -924.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -921.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -918.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -918.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -918.1199427572699, + 388.2386460824637, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965976 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -916.6199427572699, + 390.836722293817, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -915.1199427572699, + 393.4347985051703, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -913.6199427572699, + 396.0328747165236, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -912.1199427572699, + 398.63095092787694, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -910.6199427572699, + 401.22902713923025, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -909.1199427572699, + 403.82710335058357, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -907.6199427572699, + 406.4251795619369, + 4.375404648246468 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -907.6199427572699, + 406.4251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -905.0218665459165, + 407.9251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -902.4237903345631, + 409.4251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -899.8257141232098, + 410.9251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -897.2276379118564, + 412.4251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -894.629561700503, + 413.9251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -892.0314854891496, + 415.4251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -889.4334092777963, + 416.9251795619369, + 4.375404648246468 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -886.8353330664429, + 418.4251795619369, + 4.375404648246468 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -884.2225183105469, + 417.81855880737305, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-22_652942916/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-22_652942916/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..44fabaed43216601d4a6d698ea5e24ed4445f13a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-38-22_652942916/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -166.51348284802702, + 43.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -169.11155905938034, + 41.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -171.70963527073366, + 40.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -174.30771148208697, + 38.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -176.9057876934403, + 37.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -179.5038639047936, + 35.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -182.10194011614692, + 34.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -184.70001632750024, + 32.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -187.29809253885355, + 31.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -189.89616875020687, + 29.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -192.49424496156018, + 28.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -195.0923211729135, + 26.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -197.69039738426682, + 25.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -200.28847359562013, + 23.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -202.88654980697345, + 22.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -205.48462601832676, + 20.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -208.08270222968008, + 19.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -210.6807784410334, + 17.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -213.2788546523867, + 16.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -215.87693086374003, + 14.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -218.47500707509334, + 13.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -221.07308328644666, + 11.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -223.67115949779998, + 10.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -226.2692357091533, + 8.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -228.8673119205066, + 7.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -231.46538813185992, + 5.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -234.06346434321324, + 4.082465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -236.66154055456656, + 2.582465479943096, + -2.8321032639208417 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -236.66154055456656, + 2.582465479943096, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -238.16154055456656, + -0.015610731410220069, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -239.66154055456656, + -2.613686942763536, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -241.16154055456656, + -5.211763154116852, + -2.8321032639208417 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -242.66154055456656, + -7.809839365470168, + -2.8321032639208417 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -242.29689208984374, + -10.230338129997254, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-10_2036267705/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-10_2036267705/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..87e9f8541b4f85bf712772d4f4f3c0b1b6198654 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-4-10_2036267705/pose.jsonl @@ -0,0 +1,534 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -237.76952938739052, + 549.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -237.76952938739052, + 552.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -237.76952938739052, + 555.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -237.76952938739052, + 558.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -237.76952938739052, + 561.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -237.76952938739052, + 564.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -237.76952938739052, + 567.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -237.76952938739052, + 570.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -237.76952938739052, + 573.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -237.76952938739052, + 576.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -237.76952938739052, + 579.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -237.76952938739052, + 582.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -237.76952938739052, + 585.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -237.76952938739052, + 588.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -237.76952938739052, + 591.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -237.76952938739052, + 594.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -237.76952938739052, + 597.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -237.76952938739052, + 600.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -237.76952938739052, + 603.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -237.76952938739052, + 606.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -237.76952938739052, + 609.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -237.76952938739052, + 612.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -237.76952938739052, + 615.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -237.76952938739052, + 618.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -237.76952938739052, + 621.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -237.76952938739052, + 624.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -237.76952938739052, + 627.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -237.76952938739052, + 630.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -237.76952938739052, + 633.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -237.76952938739052, + 636.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -237.76952938739052, + 639.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -237.76952938739052, + 642.2237748019402, + 1.5140200548836962 + ], + "type": "turn right", + "value": 30, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -237.76952938739052, + 642.2237748019402, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -236.26952938739052, + 644.8218510132936, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -234.76952938739052, + 647.4199272246469, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -233.26952938739052, + 650.0180034360003, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -231.76952938739052, + 652.6160796473537, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -230.26952938739052, + 655.214155858707, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -228.76952938739052, + 657.8122320700604, + 1.5140200548836962 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -227.26952938739052, + 660.4103082814138, + 1.5140200548836962 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511966072 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-43-13_1266218466/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-43-13_1266218466/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbe60d76295e74721cad8aa6a9ebcc0685cacbdf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-43-13_1266218466/pose.jsonl @@ -0,0 +1,222 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 458.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 461.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 464.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 467.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 470.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 473.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 476.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 479.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 482.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "turn left", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 482.69478091834566, + 392.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 485.292857129699, + 393.71591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 487.8909333410523, + 395.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 490.4890095524056, + 396.71591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 493.0870857637589, + 398.21591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 495.68516197511224, + 399.71591930633537, + 1.3502408856164259 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 498.28323818646555, + 401.21591930633537, + 1.3502408856164259 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 560.3580831909179, + 412.7992530822754, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-48-18_1250016323/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-48-18_1250016323/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f34931a6906fd528636846cf23cd8f9724fc4754 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-48-18_1250016323/pose.jsonl @@ -0,0 +1,573 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -620.876844518838, + 155.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -623.4749207301913, + 156.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -626.0729969415447, + 158.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -628.6710731528981, + 159.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -631.2691493642515, + 161.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -633.8672255756048, + 162.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -636.4653017869582, + 164.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -639.0633779983116, + 165.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -641.661454209665, + 167.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -644.2595304210183, + 168.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -646.8576066323717, + 170.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -649.4556828437251, + 171.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -652.0537590550784, + 173.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -654.6518352664318, + 174.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -657.2499114777852, + 176.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -659.8479876891386, + 177.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -662.4460639004919, + 179.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -665.0441401118453, + 180.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -667.6422163231987, + 182.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -670.240292534552, + 183.6525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -672.8383687459054, + 185.1525485855165, + -4.650327436842477 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -672.8383687459054, + 185.1525485855165, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -674.3383687459054, + 187.75062479686983, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -675.8383687459054, + 190.34870100822314, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -677.3383687459054, + 192.94677721957646, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -678.8383687459054, + 195.54485343092978, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -680.3383687459054, + 198.1429296422831, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -681.8383687459054, + 200.7410058536364, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -683.3383687459054, + 203.33908206498973, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -684.8383687459054, + 205.93715827634304, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -686.3383687459054, + 208.53523448769636, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -687.8383687459054, + 211.13331069904967, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -689.3383687459054, + 213.731386910403, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -690.8383687459054, + 216.3294631217563, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -692.3383687459054, + 218.92753933310962, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -693.8383687459054, + 221.52561554446294, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -695.3383687459054, + 224.12369175581625, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -696.8383687459054, + 226.72176796716957, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -698.3383687459054, + 229.31984417852289, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -699.8383687459054, + 231.9179203898762, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -701.3383687459054, + 234.51599660122952, + -4.650327436842477 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -701.3383687459054, + 234.51599660122952, + -4.650327436842477 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 42, + "pos": [ + -703.9364449572588, + 236.01599660122952, + -4.650327436842477 + ], + "type": "stop", + "value": 0, + "yaw": 2.617993877991494 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-56-33_291789062/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-56-33_291789062/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1b4db6f1f5b6d088280f0fe1a9dd99d5f366378d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-56-33_291789062/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -927.1206126887513, + 311.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -929.7186889001046, + 313.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -932.3167651114579, + 314.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -934.9148413228113, + 316.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -937.5129175341647, + 317.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -940.110993745518, + 319.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -942.7090699568714, + 320.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -945.3071461682248, + 322.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -947.9052223795782, + 323.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -950.5032985909315, + 325.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -953.1013748022849, + 326.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -955.6994510136383, + 328.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -958.2975272249917, + 329.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -960.895603436345, + 331.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -963.4936796476984, + 332.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -966.0917558590518, + 334.0390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -968.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -968.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -971.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -974.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -977.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -980.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -983.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -986.6898320704051, + 335.5390721982152, + -1.2353759929082306 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -1001.9772616577148, + 339.91288177490236, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-27_1496216347/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-27_1496216347/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..23937faae103b08a31c084c92c2cd942a638bd2b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-57-27_1496216347/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -638.771578799795, + 295.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -641.3696550111483, + 294.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -643.9677312225017, + 292.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -646.5658074338551, + 291.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -649.1638836452084, + 289.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -651.7619598565618, + 288.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -654.3600360679152, + 286.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -656.9581122792686, + 285.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -659.5561884906219, + 283.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -662.1542647019753, + 282.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -664.7523409133287, + 280.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -667.350417124682, + 279.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -669.9484933360354, + 277.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -672.5465695473888, + 276.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -675.1446457587422, + 274.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -677.7427219700955, + 273.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -680.3407981814489, + 271.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -682.9388743928023, + 270.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -685.5369506041557, + 268.99735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -688.135026815509, + 267.49735520450133, + -0.46852063181827575 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -688.135026815509, + 267.49735520450133, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -689.635026815509, + 264.899278993148, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -691.135026815509, + 262.3012027817947, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -692.635026815509, + 259.7031265704414, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -694.135026815509, + 257.10505035908807, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -695.635026815509, + 254.50697414773475, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -697.135026815509, + 251.90889793638144, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -698.635026815509, + 249.31082172502812, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -700.135026815509, + 246.7127455136748, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -701.635026815509, + 244.1146693023215, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -703.135026815509, + 241.51659309096817, + -0.46852063181827575 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -704.635026815509, + 238.91851687961486, + -0.46852063181827575 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -707.2679043579102, + 238.37122535705566, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-59-19_1871812298/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-59-19_1871812298/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..58d5c5f06adf1738b7534b8f6f5f21b042691091 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_7-59-19_1871812298/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -58.19831213414047, + -211.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -55.60023592278716, + -212.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -53.00215971143384, + -214.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -50.404083500080525, + -215.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -47.80600728872721, + -217.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -45.20793107737389, + -218.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -42.60985486602058, + -220.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -40.01177865466726, + -221.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -37.413702443313944, + -223.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -34.81562623196063, + -224.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -32.21755002060731, + -226.13152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -29.619473809253996, + -227.63152020395466, + -3.682342815461937 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -29.619473809253996, + -227.63152020395466, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -28.119473809253996, + -230.22959641530798, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -26.619473809253996, + -232.8276726266613, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -25.119473809253996, + -235.4257488380146, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -23.619473809253996, + -238.02382504936793, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -22.119473809253996, + -240.62190126072124, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -20.619473809253996, + -243.21997747207456, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -19.119473809253996, + -245.81805368342788, + -3.682342815461937 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -19.119473809253996, + -245.81805368342788, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -16.52139759790068, + -247.31805368342788, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -13.923321386547364, + -248.81805368342788, + -3.682342815461937 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -11.325245175194048, + -250.31805368342788, + -3.682342815461937 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-51_1929962103/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-51_1929962103/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a51b9cef8a93fefb46771134b3d3827d9ec6e1af --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-17-51_1929962103/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -369.5810439761152, + -196.9040575801762, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -368.0810439761152, + -194.30598136882287, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -366.5810439761152, + -191.70790515746955, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -365.0810439761152, + -189.10982894611624, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -363.5810439761152, + -186.51175273476292, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -362.0810439761152, + -183.9136765234096, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -360.5810439761152, + -181.3156003120563, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -359.0810439761152, + -178.71752410070297, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -357.5810439761152, + -176.11944788934966, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -356.0810439761152, + -173.52137167799634, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -354.5810439761152, + -170.92329546664303, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -353.0810439761152, + -168.3252192552897, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -351.5810439761152, + -165.7271430439364, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -350.0810439761152, + -163.12906683258308, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -348.5810439761152, + -160.53099062122976, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -347.0810439761152, + -157.93291440987645, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -345.5810439761152, + -155.33483819852313, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -344.0810439761152, + -152.7367619871698, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -342.5810439761152, + -150.1386857758165, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -341.0810439761152, + -147.54060956446318, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -339.5810439761152, + -144.94253335310987, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -338.0810439761152, + -142.34445714175655, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -336.5810439761152, + -139.74638093040323, + 4.693217913286464 + ], + "type": "turn right", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -336.5810439761152, + -139.74638093040323, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.523598775598299 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -333.9829677647619, + -138.24638093040323, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -331.3848915534086, + -136.74638093040323, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -328.78681534205526, + -135.24638093040323, + 4.693217913286464 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -326.18873913070195, + -133.74638093040323, + 4.693217913286464 + ], + "type": "stop", + "value": 0, + "yaw": 0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-24-10_148472296/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-24-10_148472296/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b45c2569077e34d813ee1262655953d809bc9d9a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-24-10_148472296/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 71.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 68.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 65.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 62.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 59.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 56.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 53.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 50.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 47.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 44.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 41.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 38.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 35.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 32.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 29.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 26.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 23.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 20.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 17.08470879895627, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 14.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 11.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 8.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 5.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 2.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 2.084708798956271, + -259.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -0.5133674123970451, + -258.1361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -3.111443623750361, + -256.6361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -5.709519835103677, + -255.1361213873077, + 2.85090256464135 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -8.307596046456993, + -253.6361213873077, + 2.85090256464135 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -8.725501627922059, + -251.86730323791502, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-29-48_233694996/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-29-48_233694996/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5f013ae7df31c44d7247b14bb095602d2e12c7e1 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-29-48_233694996/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 377.5407491797977, + 708.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 374.94267296844436, + 707.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 372.34459675709104, + 705.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 369.7465205457377, + 704.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 367.1484443343844, + 702.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 364.5503681230311, + 701.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 361.9522919116778, + 699.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 359.35421570032446, + 698.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 356.75613948897114, + 696.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 354.1580632776178, + 695.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 351.5599870662645, + 693.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 348.9619108549112, + 692.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 346.3638346435579, + 690.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 343.76575843220456, + 689.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 341.16768222085125, + 687.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 338.56960600949793, + 686.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 335.9715297981446, + 684.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 333.3734535867913, + 683.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 330.775377375438, + 681.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 328.17730116408467, + 680.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 325.57922495273135, + 678.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 322.98114874137804, + 677.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 320.3830725300247, + 675.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 317.7849963186714, + 674.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 315.1869201073181, + 672.5082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 312.58884389596477, + 671.0082702045141, + 0.17116187178589648 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.99076768461146, + 669.5082702045141, + 0.17116187178589648 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-33-55_1022334982/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-33-55_1022334982/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7bd41b631f77d5bba1c63ade7f4106be95c1a3c5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-33-55_1022334982/pose.jsonl @@ -0,0 +1,495 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -565.4573869653176, + -203.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -568.0554631766709, + -201.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -570.6535393880242, + -200.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -573.2516155993776, + -198.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -575.849691810731, + -197.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -578.4477680220843, + -195.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -581.0458442334377, + -194.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -583.6439204447911, + -192.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -586.2419966561445, + -191.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -588.8400728674978, + -189.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -591.4381490788512, + -188.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -594.0362252902046, + -186.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -596.634301501558, + -185.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -599.2323777129113, + -183.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -601.8304539242647, + -182.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -604.4285301356181, + -180.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -607.0266063469714, + -179.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -609.6246825583248, + -177.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -612.2227587696782, + -176.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -614.8208349810316, + -174.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -617.4189111923849, + -173.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -620.0169874037383, + -171.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -622.6150636150917, + -170.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -625.2131398264451, + -168.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -627.8112160377984, + -167.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -630.4092922491518, + -165.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -633.0073684605052, + -164.007139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -635.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -635.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -638.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -641.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -644.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -647.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -650.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -653.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -656.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -659.6054446718585, + -162.507139551679, + -0.27823671681248907 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-4_1987489992/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-4_1987489992/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..53f2d9d9f8eefb09095cacff0f5fc7393b7e8dbf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-42-4_1987489992/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 400.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 397.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 394.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 391.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 388.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 385.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 382.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 379.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 376.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 373.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 370.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 367.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 364.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 361.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 358.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 355.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 352.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 349.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 346.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 343.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 340.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 337.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 334.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 331.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 328.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 325.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 322.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 319.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 316.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 313.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 310.41783380079994, + 670.4487647737941, + -2.470159724070186 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-18_941117027/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-18_941117027/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ce9b88feceed6be2e613ae762287a13f0edce81e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-44-18_941117027/pose.jsonl @@ -0,0 +1,365 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 323.55310876022116, + 601.7643411253279, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 320.95503254886785, + 603.2643411253279, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 318.35695633751453, + 604.7643411253279, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 315.7588801261612, + 606.2643411253279, + -0.8019692577533206 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 315.7588801261612, + 606.2643411253279, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 314.2588801261612, + 608.8624173366811, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 312.7588801261612, + 611.4604935480345, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 311.2588801261612, + 614.0585697593879, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 309.7588801261612, + 616.6566459707412, + -0.8019692577533206 + ], + "type": "turn right", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 309.7588801261612, + 616.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948872 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 309.7588801261612, + 619.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 309.7588801261612, + 622.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 309.7588801261612, + 625.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 309.7588801261612, + 628.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 309.7588801261612, + 631.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 309.7588801261612, + 634.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 309.7588801261612, + 637.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 309.7588801261612, + 640.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 309.7588801261612, + 643.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 309.7588801261612, + 646.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 309.7588801261612, + 649.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 309.7588801261612, + 652.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 309.7588801261612, + 655.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 309.7588801261612, + 658.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 309.7588801261612, + 661.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 309.7588801261612, + 664.6566459707412, + -0.8019692577533206 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 309.7588801261612, + 667.6566459707412, + -0.8019692577533206 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 307.503537902832, + 668.8986363220215, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-52-26_585733938/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-52-26_585733938/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..eb106cf5d7f3642b514192b8d6b286b34c093954 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-52-26_585733938/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 203.23431885750853, + 613.90248214987, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 204.73431885750853, + 616.5005583612233, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965883 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 206.23431885750853, + 619.0986345725767, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 207.73431885750853, + 621.69671078393, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 209.23431885750853, + 624.2947869952834, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 210.73431885750853, + 626.8928632066368, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 212.23431885750853, + 629.4909394179901, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 213.73431885750853, + 632.0890156293435, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 215.23431885750853, + 634.6870918406969, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 216.73431885750853, + 637.2851680520503, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 218.23431885750853, + 639.8832442634036, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 219.73431885750853, + 642.481320474757, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 221.23431885750853, + 645.0793966861104, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 222.73431885750853, + 647.6774728974638, + 2.3544256417064933 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 222.73431885750853, + 647.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267949059 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 222.73431885750853, + 650.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 222.73431885750853, + 653.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 222.73431885750853, + 656.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 222.73431885750853, + 659.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 222.73431885750853, + 662.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 222.73431885750853, + 665.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 222.73431885750853, + 668.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 222.73431885750853, + 671.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 222.73431885750853, + 674.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 222.73431885750853, + 677.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 222.73431885750853, + 680.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 222.73431885750853, + 683.6774728974638, + 2.3544256417064933 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 222.73431885750853, + 686.6774728974638, + 2.3544256417064933 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 222.9949237060547, + 690.6306562805175, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-58-1_1771358132/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-58-1_1771358132/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..08113bea5fa9507290db43f3dabad469c5be91d2 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_8-58-1_1771358132/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 69.05434071656758, + 71.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 69.05434071656758, + 68.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 69.05434071656758, + 65.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 69.05434071656758, + 62.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 69.05434071656758, + 59.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 69.05434071656758, + 56.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 69.05434071656758, + 53.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 69.05434071656758, + 50.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 69.05434071656758, + 47.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 69.05434071656758, + 44.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 69.05434071656758, + 41.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 69.05434071656758, + 38.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 69.05434071656758, + 35.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 69.05434071656758, + 32.06675042496357, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 69.05434071656758, + 29.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 69.05434071656758, + 26.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 69.05434071656758, + 23.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 69.05434071656758, + 20.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 69.05434071656758, + 17.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 69.05434071656758, + 14.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 69.05434071656758, + 11.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 69.05434071656758, + 8.066750424963573, + -0.38910394496752954 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 69.05434071656758, + 8.066750424963573, + -0.38910394496752954 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 69.05434071656758, + 8.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 66.45626450521426, + 6.566750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 63.85818829386095, + 5.066750424963573, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 61.26011208250763, + 3.5667504249635726, + -0.38910394496752954 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 61.26011208250763, + 3.5667504249635726, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931957 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 59.76011208250763, + 0.9686742136102566, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 58.26011208250763, + -1.6294019977430594, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 56.76011208250763, + -4.227478209096375, + -0.38910394496752954 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 55.26011208250763, + -6.825554420449691, + -0.38910394496752954 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-0_49211756/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-0_49211756/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f8beb44db41cbd44b8c54dfe404f430b88cdd3db --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-0_49211756/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -612.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -609.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -606.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -603.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -600.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -597.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -594.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -591.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -588.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -588.5653778254621, + -289.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -585.9673016141087, + -291.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -583.3692254027553, + -292.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -580.771149191402, + -294.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -578.1730729800486, + -295.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -575.5749967686952, + -297.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -572.9769205573418, + -298.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -570.3788443459885, + -300.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -567.7807681346351, + -301.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -565.1826919232817, + -303.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -562.5846157119283, + -304.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -559.986539500575, + -306.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -557.3884632892216, + -307.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -554.7903870778682, + -309.0489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -552.1923108665148, + -310.5489691639414, + 2.6357891866342085 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982894 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -549.5942346551615, + -312.0489691639414, + 2.6357891866342085 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982894 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -545.8660174560547, + -312.8632476806641, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-34_1720273398/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-34_1720273398/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d009779f8865c5d3c9bc8936da78f4a962b2c031 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-11-34_1720273398/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -252.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -255.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -258.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -261.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -264.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -267.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -270.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -273.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -276.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -279.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -282.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -285.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -288.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -291.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -294.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -297.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -300.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -303.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -306.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -309.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -312.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -315.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -315.66688156547525, + -130.38564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -318.26495777682857, + -131.88564212250154, + -4.475671197693515 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -320.8630339881819, + -133.38564212250154, + -4.475671197693515 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -323.98753799438475, + -133.34803604125977, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-13-41_1006777125/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-13-41_1006777125/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1009df6fabf1f8e277e7c96247b0937975107755 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-13-41_1006777125/pose.jsonl @@ -0,0 +1,326 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 120.23132853749055, + -28.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 117.63325232613724, + -26.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 115.03517611478392, + -25.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 112.4370999034306, + -23.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 109.83902369207729, + -22.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 107.24094748072397, + -20.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 104.64287126937066, + -19.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 102.04479505801734, + -17.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 99.44671884666403, + -16.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 96.84864263531071, + -14.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 94.2505664239574, + -13.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 91.65249021260408, + -11.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 89.05441400125076, + -10.002760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 86.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 86.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 83.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 80.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 77.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 74.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 71.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 68.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 65.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 62.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 59.45633778989745, + -8.502760830853, + -3.642742562896937 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-23_957873435/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-23_957873435/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..915f34417fab8da82968a92550c49320170ad80e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-14-23_957873435/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -811.6102169063251, + -22.381721273819025, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -810.1102169063251, + -19.78364506246571, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -808.6102169063251, + -17.185568851112393, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -807.1102169063251, + -14.587492639759077, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -805.6102169063251, + -11.989416428405761, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -804.1102169063251, + -9.391340217052445, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -802.6102169063251, + -6.793264005699129, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -801.1102169063251, + -4.195187794345813, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -799.6102169063251, + -1.597111582992497, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -798.1102169063251, + 1.0009646283608191, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -796.6102169063251, + 3.599040839714135, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -795.1102169063251, + 6.197117051067451, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -793.6102169063251, + 8.795193262420767, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -792.1102169063251, + 11.393269473774083, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -790.6102169063251, + 13.9913456851274, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -789.1102169063251, + 16.589421896480715, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -787.6102169063251, + 19.18749810783403, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -786.1102169063251, + 21.785574319187347, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -784.6102169063251, + 24.383650530540663, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -783.1102169063251, + 26.98172674189398, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -781.6102169063251, + 29.579802953247295, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -780.1102169063251, + 32.17787916460061, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -778.6102169063251, + 34.77595537595393, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -777.1102169063251, + 37.37403158730724, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -775.6102169063251, + 39.97210779866056, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -774.1102169063251, + 42.570184010013875, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -772.6102169063251, + 45.16826022136719, + -2.6528188602578897 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -771.1102169063251, + 47.76633643272051, + -2.6528188602578897 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-17-56_1967905751/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-17-56_1967905751/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ff8573ae514bfe9a41f8d56c64f50bb56f986ec5 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-17-56_1967905751/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -432.1562351727888, + -220.38723112581172, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -430.6562351727888, + -222.98530733716504, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -429.1562351727888, + -225.58338354851836, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -427.6562351727888, + -228.18145975987167, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -426.1562351727888, + -230.779535971225, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -424.6562351727888, + -233.3776121825783, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -423.1562351727888, + -235.97568839393162, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -421.6562351727888, + -238.57376460528494, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -420.1562351727888, + -241.17184081663825, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -418.6562351727888, + -243.76991702799157, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -417.1562351727888, + -246.36799323934488, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -415.6562351727888, + -248.9660694506982, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -414.1562351727888, + -251.56414566205152, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -412.6562351727888, + -254.16222187340483, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -411.1562351727888, + -256.7602980847581, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -1.047197551196593 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -409.6562351727888, + -259.35837429611144, + 1.1257106014422735 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -409.6562351727888, + -259.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -407.0581589614355, + -260.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -404.46008275008217, + -262.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -401.86200653872885, + -263.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -399.26393032737553, + -265.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -396.6658541160222, + -266.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -394.0677779046689, + -268.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -391.4697016933156, + -269.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -388.87162548196227, + -271.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -386.27354927060895, + -272.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -383.67547305925564, + -274.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -381.0773968479023, + -275.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -378.479320636549, + -277.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -375.8812444251957, + -278.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -373.2831682138424, + -280.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -370.68509200248906, + -281.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -368.08701579113574, + -283.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -365.4889395797824, + -284.85837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -362.8908633684291, + -286.35837429611144, + 1.1257106014422735 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -360.2927871570758, + -287.85837429611144, + 1.1257106014422735 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-37_608580149/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-37_608580149/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9c4725eb69c89142b40df08a9810989b77016c59 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-20-37_608580149/pose.jsonl @@ -0,0 +1,417 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -310.77554833665977, + -207.83119068809026, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -312.27554833665977, + -210.42926689944358, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -313.77554833665977, + -213.0273431107969, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -315.27554833665977, + -215.6254193221502, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -316.77554833665977, + -218.22349553350352, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -318.27554833665977, + -220.82157174485684, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -319.77554833665977, + -223.41964795621016, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -321.27554833665977, + -226.01772416756347, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -322.77554833665977, + -228.6158003789168, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -324.27554833665977, + -231.2138765902701, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -325.77554833665977, + -233.81195280162342, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -327.27554833665977, + -236.41002901297674, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -328.77554833665977, + -239.00810522433005, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -330.27554833665977, + -241.60618143568337, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -331.77554833665977, + -244.20425764703668, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -333.27554833665977, + -246.80233385839, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -334.77554833665977, + -249.40041006974332, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -336.27554833665977, + -251.99848628109663, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -337.77554833665977, + -254.59656249244995, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -339.27554833665977, + -257.19463870380326, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -340.77554833665977, + -259.7927149151566, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -342.27554833665977, + -262.3907911265099, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -343.77554833665977, + -264.9888673378632, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -345.27554833665977, + -267.5869435492165, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -346.77554833665977, + -270.18501976056984, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -348.27554833665977, + -272.78309597192316, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -349.77554833665977, + -275.3811721832765, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -351.27554833665977, + -277.9792483946298, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -352.77554833665977, + -280.5773246059831, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -354.27554833665977, + -283.1754008173364, + -0.0778410983529243 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -355.77554833665977, + -285.77347702868974, + -0.0778410983529243 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -357.95375900268556, + -286.8376789855957, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-24_1555218377/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-24_1555218377/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..6e1796d87c8c510c8d0fac5ed644e6477704fcaf --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-24_1555218377/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -633.8161767003703, + -220.45980215231606, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -635.3161767003703, + -217.86172594096274, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -636.8161767003703, + -215.26364972960943, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -638.3161767003703, + -212.6655735182561, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -639.8161767003703, + -210.0674973069028, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -641.3161767003703, + -207.46942109554948, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -642.8161767003703, + -204.87134488419616, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -644.3161767003703, + -202.27326867284285, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -645.8161767003703, + -199.67519246148953, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -647.3161767003703, + -197.0771162501362, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -648.8161767003703, + -194.4790400387829, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -650.3161767003703, + -191.88096382742958, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -651.8161767003703, + -189.28288761607627, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -653.3161767003703, + -186.68481140472295, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -654.8161767003703, + -184.08673519336963, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -656.3161767003703, + -181.48865898201632, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -657.8161767003703, + -178.890582770663, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -659.3161767003703, + -176.2925065593097, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -660.8161767003703, + -173.69443034795637, + -1.367522149076116 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -660.8161767003703, + -173.69443034795637, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -660.8161767003703, + -170.69443034795637, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -660.8161767003703, + -167.69443034795637, + -1.367522149076116 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -660.8161767003703, + -164.69443034795637, + -1.367522149076116 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-38_1006047395/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-38_1006047395/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b4206f61ed47a036304f3cfe7bb3429c13f51f9d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-21-38_1006047395/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -262.49852923193396, + 685.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -265.0966054432873, + 687.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -267.6946816546406, + 688.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -270.2927578659939, + 690.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -272.8908340773472, + 691.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -275.48891028870054, + 693.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -278.08698650005385, + 694.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -280.68506271140717, + 696.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -283.2831389227605, + 697.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -285.8812151341138, + 699.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -288.4792913454671, + 700.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -291.07736755682043, + 702.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -293.67544376817375, + 703.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -296.27351997952707, + 705.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -298.8715961908804, + 706.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -301.4696724022337, + 708.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -304.067748613587, + 709.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -306.66582482494033, + 711.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -309.26390103629365, + 712.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -311.86197724764696, + 714.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -314.4600534590003, + 715.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -317.0581296703536, + 717.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -319.6562058817069, + 718.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -322.2542820930602, + 720.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -324.85235830441354, + 721.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -327.45043451576686, + 723.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.0485107271202, + 724.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -332.6465869384735, + 726.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -335.2446631498268, + 727.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -337.8427393611801, + 729.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -340.44081557253344, + 730.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -343.03889178388675, + 732.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -345.63696799524007, + 733.7144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -348.2350442065934, + 735.2144966170214, + 4.944119469779386 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -348.2350442065934, + 735.2144966170214, + 4.944119469779386 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -348.2350442065934, + 735.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948968 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -348.2350442065934, + 738.2144966170214, + 4.944119469779386 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -348.2350442065934, + 741.2144966170214, + 4.944119469779386 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -349.92333297729493, + 742.416524963379, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-31_552604753/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-31_552604753/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a20cbec287eefbeea949a3df16f02ea290b8acae --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-31_552604753/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -715.5274825987912, + -199.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -712.9294063874379, + -197.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755983084 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -710.3313301760845, + -196.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -707.7332539647311, + -194.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -705.1351777533778, + -193.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -702.5371015420244, + -191.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -699.939025330671, + -190.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -697.3409491193177, + -188.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -694.7428729079643, + -187.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -692.1447966966109, + -185.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -689.5467204852575, + -184.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -686.9486442739042, + -182.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -684.3505680625508, + -181.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -681.7524918511974, + -179.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -679.154415639844, + -178.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -676.5563394284907, + -176.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -673.9582632171373, + -175.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -671.3601870057839, + -173.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -668.7621107944306, + -172.46023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -666.1640345830772, + -170.96023418348196, + -2.099519116895294 + ], + "type": "turn left", + "value": 30, + "yaw": 0.5235987755982894 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -666.1640345830772, + -170.96023418348196, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.047197551196588 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -664.6640345830772, + -168.36215797212864, + -2.099519116895294 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -663.1640345830772, + -165.76408176077533, + -2.099519116895294 + ], + "type": "stop", + "value": 0, + "yaw": 1.0471975511965979 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -661.3270858764648, + -162.2898444366455, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-45_1354321179/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-45_1354321179/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a577211eb4e92bad383d7338a30d2b259fc9317f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-25-45_1354321179/pose.jsonl @@ -0,0 +1,391 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -284.44038449856083, + 502.69831486905275, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -285.94038449856083, + 505.29639108040607, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -287.44038449856083, + 507.8944672917594, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -288.94038449856083, + 510.4925435031127, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -290.44038449856083, + 513.090619714466, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -291.94038449856083, + 515.6886959258193, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -293.44038449856083, + 518.2867721371726, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -294.94038449856083, + 520.884848348526, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -296.44038449856083, + 523.4829245598794, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -297.94038449856083, + 526.0810007712328, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -299.44038449856083, + 528.6790769825861, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -300.94038449856083, + 531.2771531939395, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -302.44038449856083, + 533.8752294052929, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -303.94038449856083, + 536.4733056166463, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -305.44038449856083, + 539.0713818279996, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -306.94038449856083, + 541.669458039353, + -1.1225359335947047 + ], + "type": "turn left", + "value": 30, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -306.94038449856083, + 541.669458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914846 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -309.53846070991415, + 543.169458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -312.13653692126746, + 544.669458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -314.7346131326208, + 546.169458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -317.3326893439741, + 547.669458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -319.9307655553274, + 549.169458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -322.5288417666807, + 550.669458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -325.12691797803404, + 552.169458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -327.72499418938736, + 553.669458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -330.3230704007407, + 555.169458039353, + -1.1225359335947047 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -330.3230704007407, + 555.169458039353, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931957 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -331.8230704007407, + 557.7675342507064, + -1.1225359335947047 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393186 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -333.3230704007407, + 560.3656104620597, + -1.1225359335947047 + ], + "type": "stop", + "value": 0, + "yaw": 2.094395102393186 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-28-49_827592008/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-28-49_827592008/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..cd21229eb28d3dd97d7169b5d19712fb809ce81e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-28-49_827592008/pose.jsonl @@ -0,0 +1,339 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -706.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -709.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -712.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -715.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -718.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -721.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -724.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -727.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -730.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -733.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -736.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -739.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -742.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -745.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -748.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -751.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -754.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "turn left", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -754.8894228704592, + 62.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": 3.665191429188092 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -757.4874990818125, + 61.199147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -760.0855752931659, + 59.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -762.6836515045193, + 58.199147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -765.2817277158726, + 56.699147235320495, + -4.63908218481327 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -765.2817277158726, + 56.699147235320495, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -766.7817277158726, + 54.10107102396718, + -4.63908218481327 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -768.2817277158726, + 51.50299481261386, + -4.63908218481327 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -768.8232287597656, + 49.617736358642574, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-3_1233983202/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-3_1233983202/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a78a2a5a556408b1d7e661573e16ad0413a9c8b --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-29-3_1233983202/pose.jsonl @@ -0,0 +1,456 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -675.5736299164697, + -39.23714721853722, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -674.0736299164697, + -36.6390710071839, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -672.5736299164697, + -34.040994795830585, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -671.0736299164697, + -31.44291858447727, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -669.5736299164697, + -28.844842373123953, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -668.0736299164697, + -26.246766161770637, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -666.5736299164697, + -23.64868995041732, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -665.0736299164697, + -21.050613739064005, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -663.5736299164697, + -18.45253752771069, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -662.0736299164697, + -15.854461316357373, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -660.5736299164697, + -13.256385105004057, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -659.0736299164697, + -10.65830889365074, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -657.5736299164697, + -8.060232682297425, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -656.0736299164697, + -5.462156470944109, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -654.5736299164697, + -2.864080259590793, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -653.0736299164697, + -0.2660040482374768, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -651.5736299164697, + 2.332072163115839, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -650.0736299164697, + 4.930148374469155, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -648.5736299164697, + 7.528224585822471, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -647.0736299164697, + 10.126300797175787, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -645.5736299164697, + 12.724377008529103, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -644.0736299164697, + 15.32245321988242, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -642.5736299164697, + 17.920529431235735, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -641.0736299164697, + 20.51860564258905, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -639.5736299164697, + 23.116681853942367, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -638.0736299164697, + 25.714758065295683, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -636.5736299164697, + 28.312834276649, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -635.0736299164697, + 30.910910488002315, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -633.5736299164697, + 33.50898669935563, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -632.0736299164697, + 36.10706291070895, + 1.585262157122541 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -632.0736299164697, + 36.10706291070895, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -632.0736299164697, + 39.10706291070895, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -632.0736299164697, + 42.10706291070895, + 1.585262157122541 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -632.0736299164697, + 45.10706291070895, + 1.585262157122541 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-37_1828585542/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-37_1828585542/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1c9cf208e002e7a9dc8e139499f9a817fe279c1c --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-32-37_1828585542/pose.jsonl @@ -0,0 +1,469 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -227.74276037683157, + -389.4342350543577, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -229.24276037683157, + -392.03231126571103, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -230.74276037683157, + -394.63038747706435, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -232.24276037683157, + -397.22846368841766, + -1.7165862048985274 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -232.24276037683157, + -397.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -234.84083658818489, + -398.72846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -237.4389127995382, + -400.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -240.03698901089152, + -401.72846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -242.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "turn right", + "value": 30, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -242.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": -3.141592653589793 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -245.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -248.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -251.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -254.63506522224483, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -257.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -260.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -263.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -266.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -269.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -272.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -275.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -278.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -281.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -284.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -287.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -290.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -293.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -296.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -299.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -302.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -305.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -308.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -311.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -314.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -317.63506522224486, + -403.22846368841766, + -1.7165862048985274 + ], + "type": "stop", + "value": 0, + "yaw": 3.141592653589793 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -319.6267106628418, + -403.69195602416994, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-34-31_1875218967/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-34-31_1875218967/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..424f2c9873fb9d633d31486049e79eef2ba6fd3a --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-34-31_1875218967/pose.jsonl @@ -0,0 +1,352 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -727.6985680651505, + 230.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -730.2966442765039, + 228.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -732.8947204878573, + 227.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -735.4927966992107, + 225.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -738.090872910564, + 224.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -740.6889491219174, + 222.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -743.2870253332708, + 221.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -745.8851015446241, + 219.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -748.4831777559775, + 218.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -751.0812539673309, + 216.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -753.6793301786843, + 215.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -756.2774063900376, + 213.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -758.875482601391, + 212.465526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -761.4735588127444, + 210.965526361191, + -4.8347311410694385 + ], + "type": "turn left", + "value": 30, + "yaw": -2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -761.4735588127444, + 210.965526361191, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.094395102393205 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -762.9735588127444, + 208.36745014983768, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -764.4735588127444, + 205.76937393848436, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -765.9735588127444, + 203.17129772713105, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -767.4735588127444, + 200.57322151577773, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -768.9735588127444, + 197.97514530442442, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -770.4735588127444, + 195.3770690930711, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -771.9735588127444, + 192.77899288171778, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -773.4735588127444, + 190.18091667036447, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -774.9735588127444, + 187.58284045901115, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -776.4735588127444, + 184.98476424765784, + -4.8347311410694385 + ], + "type": "go straight", + "value": 3, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -777.9735588127444, + 182.38668803630452, + -4.8347311410694385 + ], + "type": "stop", + "value": 0, + "yaw": -2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -779.8773458862305, + 179.3161050415039, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-37-25_622858860/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-37-25_622858860/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7a2bd9f4c87c95219b075babe1378271e2dbac4d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-37-25_622858860/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -569.4398951556756, + 405.09213231101216, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -570.9398951556756, + 407.6902085223655, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -572.4398951556756, + 410.2882847337188, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -573.9398951556756, + 412.8863609450721, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -575.4398951556756, + 415.48443715642543, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -576.9398951556756, + 418.08251336777874, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -578.4398951556756, + 420.68058957913206, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -579.9398951556756, + 423.2786657904854, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -581.4398951556756, + 425.8767420018387, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -582.9398951556756, + 428.474818213192, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -584.4398951556756, + 431.0728944245453, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -585.9398951556756, + 433.67097063589864, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -587.4398951556756, + 436.26904684725196, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -588.9398951556756, + 438.8671230586053, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -590.4398951556756, + 441.4651992699586, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -591.9398951556756, + 444.0632754813119, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -593.4398951556756, + 446.6613516926652, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -594.9398951556756, + 449.25942790401854, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -596.4398951556756, + 451.85750411537185, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -597.9398951556756, + 454.45558032672517, + 0.9417672328033522 + ], + "type": "turn left", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -597.9398951556756, + 454.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -600.5379713670288, + 455.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -603.1360475783822, + 457.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -605.7341237897356, + 458.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -608.332200001089, + 460.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -610.9302762124423, + 461.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -613.5283524237957, + 463.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -616.1264286351491, + 464.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -618.7245048465024, + 466.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -621.3225810578558, + 467.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -623.9206572692092, + 469.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -626.5187334805626, + 470.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -629.1168096919159, + 472.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -631.7148859032693, + 473.95558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -634.3129621146227, + 475.45558032672517, + 0.9417672328033522 + ], + "type": "turn right", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -634.3129621146227, + 475.45558032672517, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.094395102393205 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -635.8129621146227, + 478.0536565380785, + 0.9417672328033522 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -637.3129621146227, + 480.6517327494318, + 0.9417672328033522 + ], + "type": "stop", + "value": 0, + "yaw": 2.0943951023931953 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -639.5100476074218, + 482.8642652893066, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-36_1116323015/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-36_1116323015/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..974fc359920c4ae68c6505bd0fe0b2004b7f3805 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-39-36_1116323015/pose.jsonl @@ -0,0 +1,443 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -71.650122144366, + -114.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -74.24819835571931, + -112.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -76.84627456707263, + -111.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -79.44435077842594, + -109.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -82.04242698977926, + -108.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -84.64050320113257, + -106.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -87.23857941248589, + -105.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -89.8366556238392, + -103.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -92.43473183519252, + -102.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -95.03280804654584, + -100.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -97.63088425789915, + -99.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -100.22896046925247, + -97.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -102.82703668060579, + -96.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -105.4251128919591, + -94.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -108.02318910331242, + -93.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -110.62126531466573, + -91.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -113.21934152601905, + -90.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -115.81741773737237, + -88.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -118.41549394872568, + -87.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -121.013570160079, + -85.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -123.61164637143231, + -84.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -126.20972258278563, + -82.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -128.80779879413893, + -81.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991492 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -131.40587500549225, + -79.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -134.00395121684556, + -78.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -136.60202742819888, + -76.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -139.2001036395522, + -75.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -141.7981798509055, + -73.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -144.39625606225883, + -72.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -146.99433227361214, + -70.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -149.59240848496546, + -69.22246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -152.19048469631878, + -67.72246573586908, + -2.301059192735922 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -154.7885609076721, + -66.22246573586908, + -2.301059192735922 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-54-4_718152760/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-54-4_718152760/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..f98fa4178a4a09809905e48a34136af1ace41cc7 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-54-4_718152760/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -340.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -337.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -334.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -331.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -328.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -325.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -322.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -319.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -316.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -313.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -310.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -307.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -304.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -301.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -298.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -295.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -292.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -289.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -286.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -283.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -280.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -280.50043517264686, + 690.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -277.90235896129354, + 688.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -275.3042827499402, + 687.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -272.7062065385869, + 685.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -270.1081303272336, + 684.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -267.5100541158803, + 682.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -264.91197790452696, + 681.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -262.31390169317365, + 679.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -259.71582548182033, + 678.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -257.117749270467, + 676.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -254.5196730591137, + 675.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -251.92159684776038, + 673.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -249.32352063640707, + 672.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -246.72544442505375, + 670.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -244.12736821370044, + 669.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -241.52929200234712, + 667.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -238.9312157909938, + 666.0954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -236.3331395796405, + 664.5954810544974, + 0.41627835592309914 + ], + "type": "turn left", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -236.3331395796405, + 664.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -233.3331395796405, + 664.5954810544974, + 0.41627835592309914 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -230.3331395796405, + 664.5954810544974, + 0.41627835592309914 + ], + "type": "stop", + "value": 0, + "yaw": 0.0 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -227.7933927154541, + 663.3823291015625, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-55-32_2120279370/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-55-32_2120279370/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..124426154b5b1f7659a847b0aa3518ea3dacc34d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-55-32_2120279370/pose.jsonl @@ -0,0 +1,313 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 441.3142627381291, + 624.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 441.3142627381291, + 621.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 441.3142627381291, + 618.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 441.3142627381291, + 615.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 441.3142627381291, + 612.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 441.3142627381291, + 609.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 441.3142627381291, + 606.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 441.3142627381291, + 603.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 441.3142627381291, + 600.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 441.3142627381291, + 597.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 441.3142627381291, + 594.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 441.3142627381291, + 591.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 441.3142627381291, + 588.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 441.3142627381291, + 585.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 441.3142627381291, + 582.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 441.3142627381291, + 579.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 441.3142627381291, + 576.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 441.3142627381291, + 573.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 441.3142627381291, + 570.2094850104472, + 1.9450750489909687 + ], + "type": "turn right", + "value": 30, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 441.3142627381291, + 570.2094850104472, + 1.9450750489909687 + ], + "type": "turn right", + "value": 30, + "yaw": -2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 441.3142627381291, + 570.2094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.617993877991494 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 438.7161865267758, + 568.7094850104472, + 1.9450750489909687 + ], + "type": "go straight", + "value": 3, + "yaw": -2.6179938779914944 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 436.1181103154225, + 567.2094850104472, + 1.9450750489909687 + ], + "type": "stop", + "value": 0, + "yaw": -2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 434.03729019165036, + 563.8867979431152, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-56-44_378770797/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-56-44_378770797/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b922b8b23aaca22bd6616217fbfcafb2553b6b70 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-56-44_378770797/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -639.313582427272, + 14.882479853988855, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -640.813582427272, + 17.48055606534217, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -642.313582427272, + 20.078632276695487, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -643.813582427272, + 22.676708488048803, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -645.313582427272, + 25.27478469940212, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -646.813582427272, + 27.872860910755435, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -648.313582427272, + 30.47093712210875, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -649.813582427272, + 33.06901333346207, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -651.313582427272, + 35.66708954481538, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -652.813582427272, + 38.2651657561687, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -654.313582427272, + 40.863241967522015, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -655.813582427272, + 43.46131817887533, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -657.313582427272, + 46.05939439022865, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -658.813582427272, + 48.65747060158196, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -660.313582427272, + 51.25554681293528, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -661.813582427272, + 53.853623024288595, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -663.313582427272, + 56.45169923564191, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -664.813582427272, + 59.04977544699523, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -666.313582427272, + 61.64785165834854, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -667.813582427272, + 64.24592786970186, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -669.313582427272, + 66.84400408105517, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -670.813582427272, + 69.44208029240849, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -672.313582427272, + 72.0401565037618, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -673.813582427272, + 74.63823271511512, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -675.313582427272, + 77.23630892646844, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -676.813582427272, + 79.83438513782176, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -678.313582427272, + 82.43246134917507, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -679.813582427272, + 85.03053756052839, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -681.313582427272, + 87.6286137718817, + 1.8437240912204356 + ], + "type": "turn right", + "value": 30, + "yaw": 2.0943951023931953 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -681.313582427272, + 87.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -681.313582427272, + 90.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -681.313582427272, + 93.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -681.313582427272, + 96.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -681.313582427272, + 99.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -681.313582427272, + 102.6286137718817, + 1.8437240912204356 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -681.313582427272, + 105.6286137718817, + 1.8437240912204356 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -682.7478131103516, + 107.50352409362793, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-14_1397849319/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-14_1397849319/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e6a3f1f0dca52a7055f9becd7beedb1d99beec7f --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-6-14_1397849319/pose.jsonl @@ -0,0 +1,560 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -417.69454290526653, + 645.3465063608123, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -416.19454290526653, + 642.748430149459, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -414.69454290526653, + 640.1503539381056, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -413.19454290526653, + 637.5522777267522, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -411.69454290526653, + 634.9542015153988, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -410.19454290526653, + 632.3561253040455, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -408.69454290526653, + 629.7580490926921, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -407.19454290526653, + 627.1599728813387, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -405.69454290526653, + 624.5618966699853, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -404.19454290526653, + 621.963820458632, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -402.69454290526653, + 619.3657442472786, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -401.19454290526653, + 616.7676680359252, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -399.69454290526653, + 614.1695918245719, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -398.19454290526653, + 611.5715156132185, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -396.69454290526653, + 608.9734394018651, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -395.19454290526653, + 606.3753631905117, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -393.69454290526653, + 603.7772869791584, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -392.19454290526653, + 601.179210767805, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -390.69454290526653, + 598.5811345564516, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -389.19454290526653, + 595.9830583450982, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -387.69454290526653, + 593.3849821337449, + -1.5882907655001484 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511966072 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -387.69454290526653, + 593.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -385.0964666939132, + 591.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -382.4983904825599, + 590.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -379.9003142712066, + 588.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -377.30223805985327, + 587.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -374.70416184849995, + 585.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -372.10608563714663, + 584.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -369.5080094257933, + 582.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -366.90993321444, + 581.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -364.3118570030867, + 579.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -361.71378079173337, + 578.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -359.11570458038005, + 576.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -356.51762836902674, + 575.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -353.9195521576734, + 573.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -351.3214759463201, + 572.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + -348.7233997349668, + 570.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + -346.1253235236135, + 569.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 38, + "pos": [ + -343.52724731226016, + 567.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 39, + "pos": [ + -340.92917110090684, + 566.3849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 40, + "pos": [ + -338.3310948895535, + 564.8849821337449, + -1.5882907655001484 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 41, + "pos": [ + -335.7330186782002, + 563.3849821337449, + -1.5882907655001484 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -335.0891884613037, + 561.9170278930663, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-3_1521322667/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-3_1521322667/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..a2b64a6009d8b99e849b5138e658559c6979190d --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-3_1521322667/pose.jsonl @@ -0,0 +1,404 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -610.3638840358022, + 226.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -612.9619602471555, + 228.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.617993877991485 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -615.5600364585089, + 229.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -618.1581126698622, + 231.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -620.7561888812156, + 232.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -623.354265092569, + 234.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -625.9523413039224, + 235.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -628.5504175152757, + 237.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -631.1484937266291, + 238.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -633.7465699379825, + 240.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -636.3446461493359, + 241.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -638.9427223606892, + 243.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -641.5407985720426, + 244.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -644.138874783396, + 246.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -646.7369509947493, + 247.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -649.3350272061027, + 249.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -651.9331034174561, + 250.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -654.5311796288095, + 252.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -657.1292558401628, + 253.62946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -659.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "turn left", + "value": 30, + "yaw": 2.6179938779915037 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -659.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.1415926535898024 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -662.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -665.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -668.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -671.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -674.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -677.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -680.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "turn right", + "value": 30, + "yaw": 3.141592653589793 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -680.7273320515162, + 255.12946779822758, + 4.813175368478531 + ], + "type": "go straight", + "value": 3, + "yaw": 2.6179938779914944 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -683.3254082628696, + 256.62946779822755, + 4.813175368478531 + ], + "type": "stop", + "value": 0, + "yaw": 2.6179938779914944 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -686.6680834960937, + 258.1570868682861, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-55_349851601/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-55_349851601/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0c81679b05ce64cb4eeca43b8ec42471b6359d0e --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-4_9-7-55_349851601/pose.jsonl @@ -0,0 +1,482 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -724.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -721.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -718.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -715.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -712.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -709.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -706.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -703.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -700.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -697.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -694.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -691.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -688.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -685.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -682.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -679.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -676.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -673.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -670.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -667.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -664.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -661.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -658.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -655.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -652.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -649.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -646.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -643.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -640.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -640.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "turn right", + "value": 30, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -640.0583052804858, + 58.282198902178706, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965976 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -638.5583052804858, + 55.68412269082539, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + -637.0583052804858, + 53.086046479472074, + 2.5454007915466024 + ], + "type": "turn left", + "value": 30, + "yaw": -1.0471975511965979 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + -637.0583052804858, + 53.086046479472074, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": -0.523598775598299 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + -634.4602290691325, + 51.586046479472074, + 2.5454007915466024 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755983084 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + -631.8621528577792, + 50.086046479472074, + 2.5454007915466024 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755983084 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -629.9300636291504, + 48.19314208984375, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-12-22_1973594324/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-12-22_1973594324/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3a23a6af3d103794008fff99585cbbbc952cb323 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-12-22_1973594324/pose.jsonl @@ -0,0 +1,430 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -246.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -243.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -240.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -237.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -234.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -231.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -228.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -225.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -222.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -219.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -216.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -213.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -210.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -207.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -204.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -201.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -198.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -195.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -192.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -189.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -186.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -183.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -180.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -177.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -174.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -171.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -168.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "turn right", + "value": 30, + "yaw": 0.0 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -168.8714397986998, + -55.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + -166.2733635873465, + -57.23420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + -163.67528737599318, + -58.73420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + -161.07721116463986, + -60.23420786618237, + 0.11315850595093657 + ], + "type": "go straight", + "value": 3, + "yaw": -0.5235987755982988 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + -158.47913495328655, + -61.73420786618237, + 0.11315850595093657 + ], + "type": "stop", + "value": 0, + "yaw": -0.5235987755982988 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -156.47577671051025, + -64.65314291000367, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-15-53_2084420925/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-15-53_2084420925/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..28687a7b74dc9d9c0d6fe376f81f83f957fb8bbb --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-15-53_2084420925/pose.jsonl @@ -0,0 +1,508 @@ +{ + "action": { + "imageid": 0, + "pos": [ + 56.92356017969312, + 104.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + 56.92356017969312, + 101.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + 56.92356017969312, + 98.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + 56.92356017969312, + 95.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + 56.92356017969312, + 92.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + 56.92356017969312, + 89.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + 56.92356017969312, + 86.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + 56.92356017969312, + 83.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + 56.92356017969312, + 80.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + 56.92356017969312, + 77.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + 56.92356017969312, + 74.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + 56.92356017969312, + 71.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + 56.92356017969312, + 68.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + 56.92356017969312, + 65.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + 56.92356017969312, + 62.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + 56.92356017969312, + 59.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + 56.92356017969312, + 56.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + 56.92356017969312, + 53.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + 56.92356017969312, + 50.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + 56.92356017969312, + 47.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + 56.92356017969312, + 44.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + 56.92356017969312, + 41.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + 56.92356017969312, + 38.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + 56.92356017969312, + 35.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + 56.92356017969312, + 32.34290010905701, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + 56.92356017969312, + 29.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + 56.92356017969312, + 26.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + 56.92356017969312, + 23.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 28, + "pos": [ + 56.92356017969312, + 20.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 29, + "pos": [ + 56.92356017969312, + 17.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 30, + "pos": [ + 56.92356017969312, + 14.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 31, + "pos": [ + 56.92356017969312, + 11.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 32, + "pos": [ + 56.92356017969312, + 8.342900109057013, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 33, + "pos": [ + 56.92356017969312, + 5.3429001090570125, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 34, + "pos": [ + 56.92356017969312, + 2.3429001090570125, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 35, + "pos": [ + 56.92356017969312, + -0.6570998909429875, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 36, + "pos": [ + 56.92356017969312, + -3.6570998909429875, + -3.335172646053366 + ], + "type": "go straight", + "value": 3, + "yaw": -1.5707963267948966 + } +} +{ + "action": { + "imageid": 37, + "pos": [ + 56.92356017969312, + -6.6570998909429875, + -3.335172646053366 + ], + "type": "stop", + "value": 0, + "yaw": -1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + 56.6919751739502, + -8.754466934204101, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +} diff --git a/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-3-9_1102520059/pose.jsonl b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-3-9_1102520059/pose.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3fcc31fb9e66fb5b7bd3259e873f8ba3bb548583 --- /dev/null +++ b/Image/env_gs_sjtu01/astar_data/short/2025-1-6_11-3-9_1102520059/pose.jsonl @@ -0,0 +1,378 @@ +{ + "action": { + "imageid": 0, + "pos": [ + -580.2596632771641, + 127.75916748683933, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 1, + "pos": [ + -578.7596632771641, + 130.35724369819263, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965954 + } +} +{ + "action": { + "imageid": 2, + "pos": [ + -577.2596632771641, + 132.95531990954595, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 3, + "pos": [ + -575.7596632771641, + 135.55339612089927, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 4, + "pos": [ + -574.2596632771641, + 138.15147233225258, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 5, + "pos": [ + -572.7596632771641, + 140.7495485436059, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 6, + "pos": [ + -571.2596632771641, + 143.3476247549592, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 7, + "pos": [ + -569.7596632771641, + 145.94570096631253, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 8, + "pos": [ + -568.2596632771641, + 148.54377717766585, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 9, + "pos": [ + -566.7596632771641, + 151.14185338901916, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 10, + "pos": [ + -565.2596632771641, + 153.73992960037248, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 11, + "pos": [ + -563.7596632771641, + 156.3380058117258, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 12, + "pos": [ + -562.2596632771641, + 158.9360820230791, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 13, + "pos": [ + -560.7596632771641, + 161.53415823443243, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 14, + "pos": [ + -559.2596632771641, + 164.13223444578574, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 15, + "pos": [ + -557.7596632771641, + 166.73031065713906, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 16, + "pos": [ + -556.2596632771641, + 169.32838686849237, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 17, + "pos": [ + -554.7596632771641, + 171.9264630798457, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 18, + "pos": [ + -553.2596632771641, + 174.524539291199, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 19, + "pos": [ + -551.7596632771641, + 177.12261550255232, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 20, + "pos": [ + -550.2596632771641, + 179.72069171390564, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 21, + "pos": [ + -548.7596632771641, + 182.31876792525895, + 0.8396703530840028 + ], + "type": "turn left", + "value": 30, + "yaw": 1.0471975511965979 + } +} +{ + "action": { + "imageid": 22, + "pos": [ + -548.7596632771641, + 182.31876792525895, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 23, + "pos": [ + -548.7596632771641, + 185.31876792525895, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 24, + "pos": [ + -548.7596632771641, + 188.31876792525895, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 25, + "pos": [ + -548.7596632771641, + 191.31876792525895, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 26, + "pos": [ + -548.7596632771641, + 194.31876792525895, + 0.8396703530840028 + ], + "type": "go straight", + "value": 3, + "yaw": 1.5707963267948966 + } +} +{ + "action": { + "imageid": 27, + "pos": [ + -548.7596632771641, + 197.31876792525895, + 0.8396703530840028 + ], + "type": "stop", + "value": 0, + "yaw": 1.5707963267948966 + } +} +{ + "aim_landmark": { + "color": "test", + "feature": "test", + "position": [ + -547.9009985351562, + 200.65022193908692, + 0.0 + ], + "shape": "test", + "size": "test", + "type": "building" + } +}